Motor

Company Profile
企业简介
宁波菲仕技术股份有限公司（简称：菲仕技术）成立于 2001 年，由民营控股、先进制造产业投资基金和宁波和丰创业投
资有限公司等战略投资人参股，公司致力于以电驱动技术为核心的创新及产业化，为运动控制和能量转换领域提供系统产品和
综合解决方案，经过近 20 年的发展，菲仕已成为一家集研发、生产、销售为一体，拥有国内外多家控股子公司的集团化创新
型高科技企业。
Ningbo Physis Technology Co., Ltd. was founded in 2001, which is a private enterprise holding group company, invested by Advanced Manufacturing
Fund and Ningbo Hefeng Venture Capital Co., Ltd. Physis always devotes to innovation and industrialization of electrical drive technology, provides
servo products and solutions for the field of motion control & energy conversion. With nearly 20 years’ development, Physis became a collectivized
& innovative high-tech enterprise, which collects together research and development (R&D), production and sale, has a numbers of domestic and
overseas subsidiaries.
R&D Team
研发团队
在智能制造全球化的趋势中，菲仕逐步落地国际化的战略布局，在欧洲成立了研发中心，与国内外专业科研机构、专家合作，
进行定期交流和互动，以保持公司持续站立在伺服系统科技创新的最前沿，共同推进产业发展。经过多年的沉淀，顶尖人才的积累，
菲仕在国内还拥有省级企业技术中心和 200 余人具备独立研发能力的技术队伍，截止 2020 年底，拥有授权专利 303 项，其中发
明专利 56 项，成为全国第一批高新技术企业！
In the globalization tendency of intelligent manufacture, Physis implements the strategic layout of the group internationalization gradually, establishes a R&D
center in Europe to communicate and interact regularly with the world-class scientific research institution & industry experts at home and abroad, which
helps Physis to hold on the lead of the servo system technology innovation and promotes industrial development together ! After years of development,
accumulation of talents, Physis also has a provincial-level Enterprise Technology Center and a R&D team of more than 200 members in China who can
conduct R&D activities independently. As one of the first batch of high-tech enterprise in China, Physis has 303 patents by the end of 2020, including 56
invention patents.
CONTENTS 目录
标准配置 01
Specification of Standard Models
电机订购代码 02
Motor Coding
电机技术参数 03
Technical Data Summary
U303 _ _ A 系列电机 /Motors
U307 _ _ F 系列电机 /Motors
U307 _ _ C 系列电机 /Motors
电机性能曲线 29
Motor Performance Curves
过载率 / Overload Rating
热衰减 / Thermal Derating
电机接线 30
Motor Connection
安全制动说明 34
Safety Brake Specification
电机和机器保护 34
Motor And Machine Protetion
应用指南 35
Application Guidelines
规范说明 42
Conformity Declaration
联系我们 44
Contact Information
Specification of Standard Models
标准配置
类型
无刷永磁交流伺服电机，低惯量，高刚性
Brushless PM AC servomotors, low inertia, high
Type angular stiffness
转子均匀一致 , 高耐温稀土磁钢，机械固定 ( 无需 Syntered, high temperature rare earth, mech

Rotor 胶粘 ) anically fastened magnets(without bonding)
电机 : 根据 D1N0530 标准 F 级 ;
Motor: Class F according to D1N 0530
绝缘等级
绕组 : 根据 D1N0530 标准 H 级 ;
Winding: Class H according to D1N 0530,
特殊的高频绕组适合于长配线高频 PWM 波形
Insulation special high frequency winding suitable for long
wiring with high frequency PWM waveforms
热保护
PTC+KTY 线性探头 PTC+KTY 84 linear probe
Thermal protection
轴承
重载 , 自润滑 Heavy duty, life lubricated
Bearings
平衡
R 级 ( 减少允差 ) Grade R(reduced tolerance)
Balancing
安装法兰的同心度和垂直度
根据 1EC 72-D1N0530 标准 R 级 ( 减少允差 )
Concentricity and Grade R (reduced tolerance) according to 1EC
perpendicularity of mounting 72- D1N 0530
flange
轴
无键光轴，或带键槽标准键
cylindrical shaft without keyway, or shaft with
Shaft key
IC0041 自然对流
冷却选项
Natural convection IC0041
基座 7,10,13 和 18 系列电机可以选择风冷和 Size 7/10/13/18 option Fan cooling and water
水冷；
Cooling options
cooling
工作位置
任意 Any
Working position
法兰 B5
安装
对于 U310、U313、U318 型号可选 B3 地脚
Flanged B5
安装
Mounting option B3,Size U310&U313&U318 only
对地寄生电容
最小化 EMC 干扰 Minimized EMC impact
Stray capacitance to ground
防护等级 IP65 1P 65
Protection IP54( 风冷电机 ) IP 54(motor with fan cooling)
S: 正余弦编码器 , 海德汉 S:Sincos Encoder,heidenhain
M/N: 绝对值编码器，海德汉 Endat/ 西克
位置传感器
M/N:Absolute encoder,heidenhain Endat/ Sick
Hiperface Hiperface Incremental
D: 数字增量式编码器，多摩川 / 丹纳赫
Position sensor
D:encoder,Tamagawa/Danaher
R: 旋转变压器 , 多摩川 R:Resolver,Tamagawa
安全制动器
根据不同电机可选择不同扭矩的安全制动器
According to the motor can choose different
Safety brake torque by safety brake
插头
工业级圆形航空接插件，信号或信号 + 电源 Industrial circular type, signal or signal + power
Connector
01
Motor Coding
电机订购代码
U3 10 07 F 20 3 R4 0 Y0 K b1
底板
b1: 菲仕标准底板
电机基座识别： 00: 无底板
03, 05, 07, 10, 13, 18
Mounting feet:
Size, (ap prox. shaft he ight in cm) b1:standard feet
03 (Motor □75) ,05(Motor □100) 00:without feet
07(Motor □145) ,10(Motor □200)
13(Motor □264) ,18(Motor □360)
堵转时输出转矩：
03, 05, 07 识别数字即为所指 Nm
10, 13, 16, 18, 20 识别数字 *10 为所指 Nm
Locked rotor motor torque:

Nm for size:03,05,07 转轴：
Nm*10 for size:10,13,18,20 K: 带键槽，标准键
E: 光轴
冷却方式
A: 自然冷却 shaft:
F: 风扇强制冷却 K:shaft with key
C: 水冷却 E:cylindrical shaft without key
cooling :
A: natural convection, no field 接线方式：
F: servo fan cooling YZ: 电源和信号航空插座
C: water cooling Y0：信号航空插座和电源盒
00：无航空插座
额定转速：
rpm 100
connection:
YZ:Power and signal circular connector
Y0:Signal circular connector and power box
Nominal speed identifier :
00:No circular connector
rpm*100
额定转速下额定电压：安全制动器：
2:220/240 Vac B: 带制动器
3:380/440 Vac 0: 不带制动器
4:480/516 Vac
Safety brake:
Nominal voltage at nominal speed identifier: B:with brake
2:220/240 Vac 0:without brake
3:380/440 Vac
4:480/516 Vac
编码器： Sensor identifier:

N7:Endat 多圈绝对值编码器 (4096 圈 +19 位 / 转 ) N7: EnDat inductive absolute multi tur n(4096 rev +19 bit/rev
S1: 正余弦 2048 周 / 转 + 单圈绝对通道 ( 用于 5-20 系列电机 ) S1: Sincos 2048 cy/rev + single turn absolute track (for motor size 5...20)
R4: 旋转变压器多摩川 TS2640N321E64 R4: Resolver Tamagawa TS2640N321E64
Z: 无传感器 Z: no sensor
...... ……
订购代码示例：
U3 10 07 F 30 3 R4 B Y0 K b1
电机为 10 号基座，约 70Nm，额定 3000rpm，380Vac，风扇冷却 , 旋变编码器 TS2640N321E64, 带安全制动器 , 信号航空插座，伸出轴
带键槽 , 标准底板。
ORDER CODE EXAMPLE :

U3 10 07 F 30 3 R4 B Y0 K b1
Motor type U31007F30(70Nm,3000rpm), 380Vac, servo fan cooling, resolverTS2640N321E64, safety brake, signal circular connector
only, with Key on shaft, standard feet.
02
U 3 0 3 _ _ A M OTO R
电机型号 /Motor Code U30301A U30302A U30304A

额定转速 /Rated Speed nM [rpm] 2000 3000 1000 2000 3000 1000 2000 3000
堵转转矩 /Stall Torque 2) Md0 [Nm] 1.08 2.1 3.7
堵转电流 /Current @ Stall Torque 2) Id0 [A] 0.51 0.80 0.58 1.11 2.58 1.04 1.96 2.41
极数 /Number of Poles 2p 8
额定值 /Nominal Rating

额定转矩 /Rated Torque 2) MdN [Nm] 1 0.94 1.98 1.87 1.7 3.5 3.2 2.7
额定电流 /Rated Current 2) IdN [A] 0.47 0.7 0.55 0.99 2.09 0.99 1.69 1.76
额定功率 /Rated Power PdN [kW] 0.21 0.3 0.21 0.39 0.53 0.37 0.67 0.85
电压常数 /Voltage Constant 3) Ke [V/1000rpm] 145 105.8 281 129.4 55.9 243.5 138.4 115.4
扭矩常数 /Torque Constant 3) Kt [Nm/A] 2.40 1.75 4.65 2.38 1.09 4.03 2.29 1.91
温升 100℃时扭矩常数
Kt100 [Nm/A] 2.11 1.34 3.62 1.88 0.81 3.54 1.89 1.54
Torque Constant @ 130°C 3)
线电阻 /Winding Resistance 3) Ru-v [Ω] 119 60 150 43.16 8.5 53 15.84 10.1
线电感 /Winding Inductance 3) Lu-v [mH] 147 81 294 76.56 14.55 113.4 36.7 24
反电动势常数的温度系数
Dke/Dt [%/°C] -0.12
Derating Temp. Coeff. Of Back EMF
额定电压 /Nominal Voltage Vn [V] 343 323 335 304 186 292 289 337
功率损耗 /Losses Loss [KW] 0.084 0.082 0.112 0.108 0.106 0.129 0.129 0.129
效率 /Efficiency Eff [%] 71 78 65 78 83 74 84 87
电压 380V 时的拐点速度
nknee1 [rpm] 2252 3602 1173 2577 6404 1358 2692 3405
Knee Speed @ 380Vac
nknee2 [rpm] 2932 4659 1566 3333 8160 1763 3450 4343
Knee Speed @ 480Vac
电压 380V 时的最大扭矩下的拐点速度
nknee3 [rpm] 893 1553 214 1121 3515 516 1328 1771
Knee Speed @ 380Vac and Mmax
nknee4 [rpm] 1398 2217 469 1605 4618 800 1823 2384
最大值 /Maximum Values
最大转矩 /Max. Torque Mmax [Nm] 5 10 20
最大电流 /Max. Current (peak value) Imax [A] 2.6 4.1 3.0 5.8 13.5 6.2 11.6 14.3
380V 时最大速度
nmax1 [rpm] 2621 4113 1529 2937 6798 1561 2923 3602
Max. Saturation Speed @ 380Vac
nmax2 [rpm] 3310 5195 1931 3709 8587 1971 3692 4550
最大机械速度 /Max. Mechanical Speed nmax [rpm] 6000
机械参数 /Mechanical Data

转子惯量 /Inertia Jm [Kgcm²] 0.48 0.92 1.72
重量 /Mass M [Kg] 3 3.2 5
制动器的机械参数 /Technical Data of the Holding Brake

制动转矩 /Holding Torque MBr [Nm] 4
额定电压 (±10%)
UBr [Vdc] 24
Rated Voltage (±10%)
额定电流 /Rated Current IBr [A] 0.58
重量 /Mass MBr [Kg] 0.65
惯量 /Inertia JBr [Kgcm²] 0.22
电机增加的长度
Length [mm] 30
Addditional Motor Length
测试条件 / Test Condition

1) 电机水平放置在自由静止空气中，环境温度 30℃ / Motor tested in horizontal position in free still air, ambient temperature 30°C
2) 电机使用法兰连接在 300x300x20 的散热台上 / Motor flanged on heatsink 300x300x20
3) 典型公差值 ±10% / Typical data tolerance ±10%
4) PTC130 的报警温度 130℃ / Treshold of built in PTC 130°C
5) 斩波频率 8kHz / Chopper frequency 8kHz
03
Type L H
(mm) (mm)
U30301A 145 116.5

U30302A 167 117
U30304A 221 116.5
04
U 3 0 5 _ _ A M OTO R
电机型号 /Motor Code U30503A U30506A U30509A U30512A

额定转速 /Rated Speed nM [rpm] 1500 3000 1500 3000 1500 3000 1500 3000
堵转转矩 /Stall Torque 2) Md0 [Nm] 3.6 7.2 10.5 14
堵转电流 /Current @ Stall Torque 2) Id0 [A] 1.4 2.7 2.7 5.4 4.1 7.7 5.2 10

额定转矩 /Rated Torque 2) MdN [Nm] 3.5 3.1 7 6 10 8.6 13.2 11.4
额定电流 /Rated Current 2) IdN [A] 1.4 2.4 2.7 4.5 3.9 6.3 4.9 8.2
额定功率 /Rated Power PdN [kW] 0.55 0.97 1.10 1.88 1.57 2.70 2.07 3.58
电压常数 /Voltage Constant 3) Ke [V/1000rpm] 177 90 180 92 177 94 184 96
扭矩常数 /Torque Constant 3) Kt [Nm/A] 2.93 1.49 2.98 1.52 2.93 1.55 3.04 1.59
Kt100 [Nm/A] 2.58 1.31 2.62 1.34 2.58 1.37 2.68 1.40
线电阻 /Winding Resistance 3) Ru-v [Ω] 30.00 8.50 12.50 3.20 6.60 2.00 5.30 1.45
线电感 /Winding Inductance 3) Lu-v [mH] 112 26.00 54.70 14.2 34 9.80 27.8 7.59
Dke/Dt [%/°C] -0.12
额定电压 /Nominal Voltage Vn [V] 312 295 309 297 294 300 304 306
效率 /Efficiency Eff [%] 82 88 87 91 87 92 88 93
nknee1 [rpm] 1867 3916 1877 3879 1977 3823 1907 3753
Knee Speed @ 380Vac
nknee2 [rpm] 2407 4994 2410 4934 2539 4928 2448 4833
Knee Speed @ 480Vac
nknee3 [rpm] 958 2279 1025 2273 1241 2256 1176 2182
nknee4 [rpm] 1291 2979 1365 2939 1654 2912 1566 2816
最大转矩 /Max. Torque Mmax [Nm] 14 28 42 58
最大电流 /Max. Current (peak value) Imax [A] 6.0 11.8 11.8 23.0 17.9 33.8 23.8 45.7
nmax1 [rpm] 2147 4222 2111 4130 2147 4043 2065 3958
nmax2 [rpm] 2712 5333 2667 5217 2712 5106 2609 5000

转子惯量 /Inertia Jm [Kgcm²] 1.7 3.2 4.6 6
重量 /Mass M [Kg] 5 7 9 11

额定电压 (±10%)
UBr [Vdc] 24
重量 /Mass MBr [Kg] 1
惯量 /Inertia JBr [Kgcm²] 0.65
Length [mm] 33

2) 电机使用法兰连接在 300x300x20 的散热台上 / Motor flanged on heatsink 300x300x20
05
Type L H
(mm) (mm)
U30503A 195 139.5

U30506A 239 139.5
U30509A 283 139.5
U30512A 327 139.5
06
U 3 0 7 _ _ A M OTO R

额定转速 /Rated Speed nM [rpm] 1500 2000 3000 1500 2000 3000 1500 2000 3000 1500 2000 3000
堵转转矩 /Stall Torque 2) Md0 [Nm] 10 19 27 35
堵转电流 /Current @ Stall Torque 2) Id0 [A] 3.4 4.2 6.1 6.0 7.8 11.7 8.3 11.1 19.9 10.7 12.1 24.0

额定转矩 /Rated Torque 2) MdN [Nm] 9.1 9 8.5 17 16 11 24 23 18 33 32 26
额定电流 /Rated Current 2) IdN [A] 3.1 3.8 5.2 5.4 6.5 6.7 7.4 9.4 13.3 10.1 11.0 17.9
额定功率 /Rated Power PdN [kW] 1.4 1.9 2.7 2.7 3.3 3.5 3.8 4.8 5.7 5.2 6.7 8.2
电压常数 /Voltage Constant 3) Ke [V/1000rpm] 202 162 112 218 168 112 224 167.6 93 224 199 100
扭矩常数 /Torque Constant 3) Kt [Nm/A] 3.34 2.68 1.85 3.61 2.78 1.85 3.70 2.77 1.54 3.70 3.29 1.65
Kt100 [Nm/A] 2.94 2.36 1.63 3.17 2.45 1.63 3.26 2.44 1.35 3.26 2.90 1.46
线电阻 /Winding Resistance 3) Ru-v [Ω] 10.30 6.62 3.05 4.25 2.54 1.11 2.348 1.49 0.41 1.85 1.43 0.33
线电感 /Winding Inductance 3) Lu-v [mH] 61.30 39.20 18.80 32.50 19.30 8.40 22.20 12.50 3.65 16.40 12.90 3.20
Dke/Dt [%/°C] -0.12
额定电压 /Nominal Voltage Vn [V] 346 363 366 358 362 347 362 358 290 364 424 311
功率损耗 /Losses Loss [KW] 0.23 0.30 0.35 0.41
效率 /Efficiency Eff [%] 86 89 92 90 92 92 92 93 94 93 94 95
nknee1 [rpm] 1658 2103 3122 1599 2102 3286 1578 2129 3948 1571 1784 3672
Knee Speed @ 380Vac
nknee2 [rpm] 2127 2688 3973 2039 2677 4165 2009 2707 5004 2002 2270 4651
Knee Speed @ 480Vac
nknee3 [rpm] 923 1202 1829 967 1281 2038 955 1298 2491 972 1115 2383
nknee4 [rpm] 1217 1570 2359 1258 1658 2611 1239 1676 3194 1263 1443 3042
最大电流 /Max. Current (peak value) Imax [A] 12 15 22 23 29 44 34 45 81 44 49 98
nmax1 [rpm] 1881 2346 3393 1743 2262 3393 1696 2267 4086 1696 1910 3800
nmax2 [rpm] 2376 2963 4286 2202 2857 4286 2143 2864 5161 2143 2412 4800

转子惯量 /Inertia Jm [Kgcm²] 8 14 20 26
重量 /Mass M [Kg] 12 17 21 26

额定电压 (±10%)
UBr [Vdc] 24
惯量 /Inertia JBr [Kgcm²] 6
Length [mm] 50

2) 电机使用法兰连接在 500x500x20 的散热台上或者保持法兰温度 30℃ / Motor flanged (Tflange = 30°C or heatsinker 500x500x20)
07
Type L H
(mm) (mm)
U30710A 208 184.5

U30720A 257 184.5
U30730A 307 184.5
U30740A 358 184.5
08
U 3 0 7 _ _ F M OTO R
电机型号 /Motor Code U30720F U30730F U30740F

额定转速 /Rated Speed nM [rpm] 1500 2000 3000 1500 2000 3000 1500 2000 3000
堵转转矩 /Stall Torque 2) Md0 [Nm] 24 41 54
堵转电流 /Current @ Stall Torque 2) Id0 [A] 9.8 9.8 14.3 12.4 16.6 23.7 16.4 24.1 32.7

额定转矩 /Rated Torque 2) MdN [Nm] 21.7 21.7 21.7 39 36.4 35.9 45.5 44.5 43.5
额定电流 /Rated Current 2) IdN [A] 8.9 8.8 13.5 12.0 15.4 22.5 14.0 21.0 28.0
额定功率 /Rated Power PdN [kW] 3.4 4.5 6.8 6.1 7.6 11.3 7.1 9.3 13.7
电压常数 /Voltage Constant 3) Ke [V/1000rpm] 161.3 161.3 108 227.3 164.7 114.5 226 154.1 113.6
扭矩常数 /Torque Constant 3) Kt [Nm/A] 2.67 2.67 1.79 3.76 2.72 1.89 3.74 2.55 1.88
Kt100 [Nm/A] 2.48 2.48 1.57 3.44 2.53 1.76 3.29 2.24 1.65
线电阻 /Winding Resistance 3) Ru-v [Ω] 2 2 0.9741 2.092 1.337 0.607 1.934 0.7442 0.4114
线电感 /Winding Inductance 3) Lu-v [mH] 16.4 16.4 7.74 20.8 12.8 5.88 17 7.84 4.38
Dke/Dt [%/°C] -0.12
额定电压 /Nominal Voltage Vn [V] 253 354 355 360 353 361 372 355 365
功率损耗 /Losses Loss [KW] 0.39 0.39 0.46 0.74 0.77 0.76 0.89 0.83 1.30
效率 /Efficiency Eff [%] 90 90 94 85 91 94 85 93 93
nknee1 [rpm] 2270 2270 3180 1548 2116 3126 1567 2223 3048
Knee Speed @ 380Vac
nknee2 [rpm] 2741 2741 4100 1879 2582 3778 1894 2828 3927
Knee Speed @ 480Vac
nknee3 [rpm] 1435 1435 2227 1008 1315 2031 971 1496 2020
nknee4 [rpm] 1850 1850 2852 1304 1693 2597 1262 1919 2559
最大电流 /Max. Current (peak value) Imax [A] 30 30 42 33 45 63 42 63 86
nmax1 [rpm] 2538 2538 3513 1825 2487 3576 1749 2466 3345
nmax2 [rpm] 2976 2976 4444 2112 2914 4192 2124 3115 4225

转子惯量 /Inertia Jm [Kgcm²] 14 20 26
重量 /Mass M [Kg] 22 27 32

额定电压 (±10%)
UBr [Vdc] 24
Length [mm] 50

2) 进水口温度最高 20℃ / Water inlet temperature max 20°C
09
Type L H
(mm) (mm)
U30720F 356.3 251.8
U30730F 406.3 251.8
U30740F 457.3 251.8
10
U 3 0 7 _ _ C M OTO R
电机型号 /Motor Code U30720C U30730C U30740C

额定转速 /Rated Speed nM [rpm] 1500 3000 1500 3000 1500 3000
堵转电流 /Current @ Stall Torque 2) Id0 [A] 11 24 19 36 28 55

额定转矩 /Rated Torque 2) MdN [Nm] 33 30 53 50 78 70
额定电流 /Rated Current 2) IdN [A] 10 21 18 31 27 48
额定功率 /Rated Power PdN [kW] 5 9 8 16 12 22
电压常数 /Voltage Constant 3) Ke [V/1000rpm] 218 100 205 112 199 100
扭矩常数 /Torque Constant 3) Kt [Nm/A] 3.61 1.65 3.39 1.85 3.29 1.65
Kt100 [Nm/A] 3.17 1.46 2.98 1.63 2.90 1.46
线电阻 /Winding Resistance 3) Ru-v [Ω] 4.18 0.82 2.2 0.67 1.25 0.38
线电感 /Winding Inductance 3) Lu-v [mH] 32.5 6.8 18.6 5.5 12.9 3.2
Dke/Dt [%/°C] -0.12
额定电压 /Nominal Voltage Vn [V] 408 350 386 399 378 357
冷却水流量 /Minimum Flow Rate Flow [L/min] 2 3 5
功率损耗 /Losses Loss [KW] 1.36 2.20 2.87
效率 /Efficiency Eff [%] 79 87 79 88 81 88
nknee1 [rpm] 1388 3271 1477 2855 1509 3197
Knee Speed @ 380Vac
nknee2 [rpm] 1788 4162 1898 3639 1933 4070
Knee Speed @ 480Vac
nknee3 [rpm] 953 2277 1040 2027 1132 2365
nknee4 [rpm] 1246 2914 1351 2598 1460 3024
最大电流 /Max. Current (peak value) Imax [A] 23 49 37 67 49 98
nmax1 [rpm] 1743 3800 1854 3393 1910 3800
nmax2 [rpm] 2202 4800 2341 4286 2412 4800

重量 /Mass M [Kg] 17 21 25

额定电压 (±10%)
UBr [Vdc] 24
Length [mm] 50

11
Type L
(mm)
U30720C 257
U30730C 307
U30740C 358
12
U 3 1 0 _ _ A M OTO R

额定转速 /Rated Speed nM [rpm] 1000 1500 2000 3000 1000 1500 2000 3000 1000 1500 2000 3000 1000 1500 2000 3000
堵转电流 /Current @ Stall Torque 2) Id0 [A] 9 11 14 24 15 19 28 45 20 31 36 55 25 33 49 64

额定转矩 /Rated Torque 2) MdN [Nm] 32 32 31 27 57 52 50 30 84 78 73 32 95 90 80 45
额定电流 /Rated Current 2) IdN [A] 8 10 13 18 14 16 23 22 19 28 30 20 22 28 38 28
额定功率 /Rated Power PdN [kW] 3.3 5 6 8 6 8 10 9 9 12 15 10 10 14 17 14
电压常数 /Voltage Constant 3) Ke [V/1000rpm] 277 213 166 102 274 221 148 93 304 193 166 110 293 221 146 112
扭矩常数 /Torque Constant 3) Kt [Nm/A] 4.58 3.52 2.75 1.68 4.54 3.65 2.44 1.53 5.02 3.19 2.74 1.82 4.85 3.65 2.42 1.85
Kt100 [Nm/A] 4.03 3.10 2.42 1.48 4.00 3.21 2.15 1.35 4.42 2.81 2.41 1.60 4.27 3.21 2.13 1.63
线电阻 /Winding Resistance 3) Ru-v [Ω] 3.400 2.000 1.220 0.458 1.290 0.820 0.370 0.145 0.908 0.370 0.270 0.120 0.620 0.350 0.154 0.090
线电感 /Winding Inductance 3) Lu-v [mH] 34.00 18.80 8.00 4.30 16.00 10.20 4.55 1.80 13.90 5.60 4.10 1.84 9.10 5.12 2.30 1.28
Dke/Dt [%/°C] -0.12
额定电压 /Nominal Voltage Vn [V] 316 353 354 323 302 354 312 284 333 310 350 335 314 348 304 340
效率 /Efficiency Eff [%] 86 90 92 94 90 94 92 94 95 93 92 95 95 95
nknee1 [rpm] 1219 1619 2153 3536 1272 1613 2445 4029 1149 1848 2174 3410 1219 1640 2507 3356
Knee Speed @ 380Vac
nknee2 [rpm] 1559 2065 2740 4484 1621 2051 3101 5096 1463 2346 2756 4312 1549 2081 3175 4244
Knee Speed @ 480Vac
nknee3 [rpm] 730 1021 1577 2270 782 1005 1551 2521 694 1137 1343 2039 754 1032 1578 2146
nknee4 [rpm] 953 1323 2039 2901 1013 1294 1984 3209 897 1456 1716 2595 973 1325 2014 2733
最大电流 /Max. Current (peak value) Imax [A] 29 37 48 78 58 72 108 172 77 121 141 213 106 140 212 277
nmax1 [rpm] 1372 1786 2286 3741 1384 1722 2578 4108 1252 1970 2294 3453 1296 1722 2597 3397
nmax2 [rpm] 1733 2255 2887 4726 1759 2175 3254 5189 1582 2488 2897 4362 1637 2175 3281 4291

重量 /Mass M [Kg] 28 40 55 70

额定电压 (±10%)
UBr [Vdc] 24
Length [mm] 65

2) 电机使用法兰安装 ( 法兰温度 30℃ ) / Motor flanged (Tflange = 30°C)
13
B
(mm) L
Type (mm)
Encoder: Encoder:
R,S,N1,etc... N3,S5,D6,M2,etc...
U31004A 255 263.5 157
U31007A 327 335.5 232
U31010A 399 407.5 306
U31013A 471 479.5 381
14
U 3 1 0 _ _ F M OTO R
电机型号 /Motor Code U31004F U31007F U31010F U31013F


额定功率 /Rated Power PdN [kW] 4 7 8 12 8 11 15 22 10 16 20 30 16 23 30 42
Kt100 [Nm/A] 4.03 2.82 2.02 1.48 4.00 2.99 2.15 1.35 4.40 2.81 2.01 1.60 4.27 3.21 2.13 1.63
Dke/Dt [%/°C] -0.12
功率损耗 /Losses Loss [KW] 0.90 0.89 0.90 0.90 1.38 1.38 1.37 1.37 1.68 1.68 1.68 1.67 2.08 2.07 2.07 2.07
效率 /Efficiency Eff [%] 83 88 90 93 85 89 92 94 86 90 92 95 88 92 93 95
nknee1 [rpm] 1154 1701 2410 3393 1224 1610 2348 3794 1124 1795 2542 3200 1151 1554 2374 3161
Knee Speed @ 380Vac
nknee2 [rpm] 1481 2173 3067 4309 1563 2050 2983 4809 1433 2282 3224 4055 1468 1977 3013 4006
Knee Speed @ 480Vac
nknee3 [rpm] 730 1118 1566 2270 782 954 1551 2521 693 1137 1628 2039 754 1032 1578 2146
nknee4 [rpm] 953 1444 2009 2901 1013 1224 1984 3209 896 1456 2076 2595 973 1325 2014 2733
nmax1 [rpm] 1372 1964 2733 3741 1384 1849 2576 4108 1257 1970 2757 3453 1296 1722 2597 3397
nmax2 [rpm] 1733 2481 3452 4726 1749 2335 3254 5189 1588 2489 3482 4362 1637 2175 3281 4291

重量 /Mass M [Kg] 35 50 65 80

额定电压 (±10%)
UBr [Vdc] 24
Length [mm] 65

15
L
(mm) M
Type (mm)
Encoder: Encoder:
R,S1,N7,etc... N3,D,S5,M2,etc...
U31004F 342 350 267
U31007F 414 425 312
U31010F 486 497 396
U31013F 558 564 471
16
U 3 1 0 _ _ C M OTO R
电机型号 /Motor Code U31004C U31007C U31010C U31013C


额定转矩 /Rated Torque 2) MdN [Nm] 54 53 109 108 164 163 160 219 218 217
额定电流 /Rated Current 2) [Nm] [A] 13 20 26 36 29 40 58 80 41 58 81 114 51 82 102 163
Kt100 [Nm/A] 4.01 2.67 2.02 1.48 3.75 2.68 1.87 1.35 4.01 2.81 2.01 1.40 4.27 2.66 2.13 1.33
Dke/Dt [%/°C] -0.12
冷却水流量 /Minimum Flow Rate Flow [L/min] 2.5 4 5 7
功率损耗 /Losses Loss [KW] 1.25 1.27 1.25 1.24 1.92 1.91 1.90 2.52 2.51 2.52 2.51 3.23
nknee1 [rpm] 1075 1694 2252 3170 1177 1683 2447 3492 1102 1608 2279 3314 1052 1699 2173 3525
Knee Speed @ 380Vac
nknee2 [rpm] 1386 2168 2872 4032 1507 2146 3111 4433 1410 2049 2897 4204 1347 2165 2764 4471
Knee Speed @ 480Vac
nknee3 [rpm] 730 1178 1566 2270 811 1172 1709 2521 770 1137 1618 2349 754 1207 1578 2569
nknee4 [rpm] 952 1520 2009 2901 1048 1503 2182 3209 993 1456 2063 2987 973 1544 2014 3265
nmax1 [rpm] 1378 2074 2733 3741 1475 2061 2965 4108 1378 1970 2757 3953 1296 2081 2597 4162
nmax2 [rpm] 1741 2620 3452 4726 1864 2603 3745 5189 1741 2489 3482 4993 1637 2629 3281 5258

重量 /Mass M [Kg] 35 43 57 70

额定电压 (±10%)
UBr [Vdc] 24
Length [mm] 65

6) 如果 Id0>=130A，电机长度增加 20mm / If Id0 >= 130A: + 20mm of addtional length
17
L
(mm) A B
Type (mm) (mm)
Encoder: Encoder:
R,S1,N1,etc... N3,M2,S5,etc...
U31004C 275 283.5 39 157
U31007C 347 355.5 100 232
U31010C 419 427.5 150 306
U31013C 511 519.5 218 381
18
U 3 1 3 _ _ A M OTO R

额定转速 /Rated Speed nM [rpm] 1000 1500 2000 3000 1000 1500 2000 3000 1000 1500 2000 1000 1500 2000
堵转电流 /Current @ Stall Torque 2) Id0 [A] 20 30 40 60 39 58 88 117 54 81 107 65 108 163

额定转矩 /Rated Torque 2) MdN [Nm] 95 93 87 70 170 160 100 50 240 230 180 270 230 130
额定电流 /Rated Current 2) IdN [A] 19 28 35 42 35 49 47 31 50 71 74 50 71 61
额定功率 /Rated Power PdN [kW] 10 15 18 22 18 25 21 16 25 36 38 28 36 27
电压常数 /Voltage Constant 3) Ke [V/1000rpm] 343 229 172 114 333 224 148 111 333 222 166 369 222 148
扭矩常数 /Torque Constant 3) Kt [Nm/A] 5.68 3.79 2.84 1.89 5.50 3.70 2.44 1.84 5.50 3.67 2.75 6.10 3.67 2.44
Kt100 [Nm/A] 5.00 3.34 2.50 1.66 4.84 3.26 2.15 1.62 4.84 3.23 2.42 5.37 3.23 2.15
线电阻 /Winding Resistance 3) Ru-v [Ω] 0.800 0.360 0.200 0.090 0.300 0.136 0.058 0.033 0.196 0.087 0.049 0.160 0.059 0.026
线电感 /Winding Inductance 3) Lu-v [mH] 18.00 8.26 4.50 2.00 9.10 4.00 1.94 1.03 6.00 2.70 1.50 5.50 2.20 0.97
Dke/Dt [%/°C] -0.12
额定电压 /Nominal Voltage Vn [V] 378 374 367 358 361 358 305 336 358 354 345 389 347 299
功率损耗 /Losses Loss [KW] 0.69 0.70 0.69 0.70 1.00 0.98 1.22 1.47 1.50 1.49
效率 /Efficiency Eff [%] 93 96 96 97 95 96 96 97 96 97 97 96 97 97
nknee1 [rpm] 1007 1525 2069 3186 1055 1595 2499 3390 1064 1612 2203 977 1644 2540
Knee Speed @ 380Vac
nknee2 [rpm] 1281 1935 2622 4031 1339 2021 3161 4284 1350 2042 2787 1238 2080 3211
Knee Speed @ 480Vac
nknee3 [rpm] 666 1007 1384 2101 679 1045 1503 2091 681 1033 1400 619 990 1507
nknee4 [rpm] 855 1285 1762 2668 867 1330 1908 2652 870 1315 1779 791 1258 1912
最大电流 /Max. Current (peak value) Imax [A] 62 92 123 185 125 186 282 374 189 283 377 225 375 564
nmax1 [rpm] 1107 1658 2213 3325 1143 1699 2576 3416 1143 1713 2286 1030 1713 2576
nmax2 [rpm] 1398 2095 2795 4201 1443 2146 3254 4315 1443 2163 2887 1301 2163 3254

重量 /Mass M [Kg] 85 115 150 185

额定电压 (±10%)
UBr [Vdc] 24
Length [mm] 80

19
A1
Type (mm) A2 L1 L2 L3 B1 D1 H1
In ≤ 150A
(mm) (mm) (mm) (mm) (mm) (mm)
U31310A 332 200 112 10 90 14 48j6 51.5

U31320A 439 307 112 10 90 14 48j6 51.5
U31330A 546 414 112 10 90 14 48j6 51.5
U31340A 653 521 112 10 90 14 48j6 51.5
20
U 3 1 3 _ _ F M OTO R
电机型号 /Motor Code U31310F U31320F U31330F U31340F


Kt100 [Nm/A] 5.00 3.05 2.50 1.66 4.84 3.26 2.15 1.62 4.84 3.23 2.42 1.62 4.31 3.23 2.15 1.62
Dke/Dt [%/°C] -0.12

nknee1 [rpm] 924 1555 1890 2936 966 1469 2200 2992 972 1479 2001 3008 1091 1469 2246 3051
Knee Speed @ 380Vac
nknee2 [rpm] 1179 1976 2398 3720 1229 1864 2787 3788 1237 1877 2536 3807 1386 1863 2845 3861
Knee Speed @ 480Vac
nknee3 [rpm] 666 1125 1318 2101 679 1045 1503 2020 681 1033 1400 2006 740 990 1507 2084
nknee4 [rpm] 855 1435 1677 2668 867 1330 1908 2561 870 1315 1779 2543 943 1258 1912 2641
nmax1 [rpm] 1107 1811 2213 3325 1143 1699 2576 3416 1143 1713 2286 3416 1283 1713 2576 3416
nmax2 [rpm] 1398 2288 2795 4201 1443 2146 3254 4315 1443 2163 2887 4315 1620 2163 3254 4315

重量 /Mass M [Kg] 90 130 170 210

额定电压 (±10%)
UBr [Vdc] 24

Length [mm] 80

21
A1
Type (mm) A2 L1 L2 L3 B1 D1 H1
In ≤ 150A In ＞ 150A
(mm) (mm) (mm) (mm) (mm) (mm)
U31310F 459.5 499.5 262 112 10 90 14 48j6 51.5

U31320F 566.5 606.5 370 112 10 90 14 48j6 51.5
U31330F 673.5 713.5 476 112 10 90 14 48j6 51.5
U31340F 780.5 820.5 583 112 10 90 18 60m6 64
22
U 3 1 3 _ _ C M OTO R
电机型号 /Motor Code U31310C U31320C U31330C U31340C


Kt100 [Nm/A] 4.17 2.78 2.50 1.66 4.30 2.42 2.15 1.62 4.03 2.42 2.02 1.62 4.84 2.68 2.15 1.62
Dke/Dt [%/°C] -0.12
冷却水流量 /Minimum Flow Rate Flow [L/min] 5 8 11 14

nknee1 [rpm] 1047 1601 1735 2716 1003 1819 2045 2759 1069 1816 2184 2679 893 1639 1992 2723
Knee Speed @ 380Vac
nknee2 [rpm] 1336 2036 2203 3443 1277 2308 2593 3495 1360 2303 2768 3393 1137 2079 2524 3448
Knee Speed @ 480Vac
nknee3 [rpm] 809 1244 1318 2101 773 1406 1573 2127 821 1400 1681 2006 689 1271 1507 2084
nknee4 [rpm] 1036 1585 1677 2668 987 1787 1997 2698 1047 1779 2134 2543 879 1614 1912 2641
nmax1 [rpm] 1326 1989 2213 3325 1285 2286 2576 3416 1372 2286 2733 3416 1143 2061 2576 3416
nmax2 [rpm] 1675 2512 2795 4201 1624 2887 3254 4315 1733 2887 3452 4315 1443 2603 3254 4315

重量 /Mass M [Kg] 95 120 150 190

额定电压 (±10%)
UBr [Vdc] 24

Length [mm] 80

23
A1
Type (mm) A2 A3 A4 L1 L2 L3 B1 D1 H1
In ≤ 150A In ＞ 150A
(mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm)
U31310C 332 200 121.4 63.7 112 10 90 14 48j6 51.5

U31320C 479 307 135 160 112 10 90 14 48j6 51.5
U31330C 586 414 141 253 112 10 90 18 60m6 64
U31340C 693 521 141 360 112 10 90 18 60m6 64
24
U 3 1 8 _ _ F M OTO R
电机型号 /Motor Code U318035F U318050F U318060F U318070F U318100F

额定转速 /Rated Speed nM [rpm] 1500 1500 1500 1500 1500
堵转转矩 /Stall Torque 2) Md0 [Nm] 579 761 932 1095 1398
堵转电流 /Current @ Stall Torque 2) Id0 [A] 169 209 273 321 384

额定转矩 /Rated Torque 2) MdN [Nm] 478 623 748 869 1103
额定电流 /Rated Current 2) IdN [A] 151 185 237 275 328
额定功率 /Rated Power PdN [kW] 75 98 118 137 173
电压常数 /Voltage Constant 3) Ke [V/1000rpm] 216 231 216 216 231
扭矩常数 /Torque Constant 3) Kt [Nm/A] 3.58 3.82 3.58 3.58 3.82
Kt100 [Nm/A] 3.32 3.54 3.32 3.32 3.54
线电阻 /Winding Resistance 3) Ru-v [Ω] 0.045 0.035 0.023 0.018 0.015
线电感 /Winding Inductance 3) Lu-v [mH] 0.616 0.526 0.37 0.308 0.263
Dke/Dt [%/°C] -0.12
额定电压 /Nominal Voltage Vn [V] 317 337 314 313 333
功率损耗 /Losses Loss [KW] 3.01 3.54 4.06 4.52 5.3
效率 /Efficiency Eff [%] 96 97 97 97 97
nknee1 [rpm] 1796 1687 1811 1816 1707
Knee Speed @ 380Vac
nknee3 [rpm] 1521 1429 1533 1536 1440
最大转矩 /Max. Torque Mmax [Nm] 1346 1795 2244 2692 3590
最大电流 /Max. Current (peak value) Imax [A] 380 475 633 759 949
最大速度 /Max. Speed Deflux nmax1 [rpm] 2000
最大机械速度 /Max. Mechanical Speed nknee [rpm] 4000

转子惯量 /Inertia Jm [Kgcm²] 2820 3660 4500 5340 7010
重量 /Mass M [Kg] 285 350 395 435 520

25
Type A1 A2 L1 L2 L3 B1 D1 H1
(mm) (mm) (mm) (mm) (mm) (mm) (mm)
U318035F 700 348 140 6 125 18 60m6 64

U318050F 764 412 170 10 140 22 80m6 85
U318060F 828 476 170 10 140 22 80m6 85
U318070F 892 540 170 10 140 22 80m6 85
U318100F 1020 670 170 10 140 25 90m6 95
26
U 3 1 8 _ _ C M OTO R
电机型号 /Motor Code U318035C U318070C U318100C

额定转速 /Rated Speed nM [rpm] 1000 2000 1000 2000 1000 2000
堵转电流 /Current @ Stall Torque 2) Id0 [A] 97 194 194 388 317 635

额定转矩 /Rated Torque 2) MdN [Nm] 500 497 1000 980 1540 1480
额定电流 /Rated Current 2) IdN [A] 88 175 176 345 305 588
额定功率 /Rated Power PdN [kW] 52 104 105 205 161 310
电压常数 /Voltage Constant 3) Ke [V/1000rpm] 390 195 390 195 347 173
扭矩常数 /Torque Constant 3) Kt [Nm/A] 6.45 3.23 6.45 3.23 5.74 2.86
Kt100 [Nm/A] 5.68 2.84 5.68 2.84 5.05 2.52
线电阻 /Winding Resistance 3) Ru-v [Ω] 0.16 0.042 0.059 0.015 0.032 0.009
线电感 /Winding Inductance 3) Lu-v [mH] 2.2 0.55 1.1 0.45 1.04 0.27
Dke/Dt [%/°C] -0.12
额定电压 /Nominal Voltage Vn [V] 408 402 405 410 374 369
冷却水流量 /Minimum Flow Rate Flow [L/min] n.a.
功率损耗 /Losses Loss [KW] 3.24 3.41 4.79 4.87 6.94 7.85
效率 /Efficiency Eff [%] 95 95 94 94 95 95
nknee1 [rpm] 929 1887 937 1851 1018 2060
Knee Speed @ 380Vac
nmax2 [rpm] 1181 2391 1189 2344 1291 2609
Knee Speed @ 380Vac
nmax3 [rpm] 795 1658 822 1475 807 1621
nmax4 [rpm] 1023 2114 1052 1873 1029 2058
最大电流 /Max. Current (peak value) Imax [A] 252 504 484 969 762 1529
380V 时最大速度 /Max. Speed Deflux nmax1 [rpm] 974 1949 974 1949 1095 2197
480V 时最大速度 /Max. Speed Deflux nmax2 [rpm] 1231 2462 1231 2462 1383 2775

重量 /Mass M [Kg] 265 380 455

27
Type A1 A2 L1 L2 L3 B1 D1 H1
(mm) (mm) (mm) (mm) (mm) (mm) (mm)
U318035C 515 348 140 6 125 18 60m6 64

U318070C 707 540 170 10 140 22 80m6 85
U318100C 835 670 170 10 140 25 90m6 95
28
Motor Performance Curves
电机性能曲线
nknee3 nknee4
Mmax
S1 Torque
Voltage Saturation 380Vac
Voltage Saturation 480Vac
Max Torque
S1 Power
PDN
MDO
MDN
nknee1 nmax1 nknee2 nmax2
热衰减过载
Thermal Derating Overload Rating
140 400
120 300
Tr(duty)
Tr(Ta)
100 200
80 100
-20 0 20 40 60 80 0 0.2 0.4 0.6 0.8 1
允许扭矩比例（% of Md0）（纵坐标）和环境温度（横坐标）的关系允许扭矩过载比例（纵坐标）和负载运行时间占比（横坐标）的关系

Permissible torque vs. ambient temperature, % of Md0 Permissible torque overload vs. duty cycle, all motors.
29
Motor Connections
电机接线
信号 Signal
信号插座 /Signal Connector M23-17 Pin 信号插座 /Signal Connector M23-17 Pin
E n D a t Ty p e M x , N x R e s o l v e r Ty p e R
PIN Function AxM Port E1 PIN Function AxM Port E1 PIN
1 A+ n.c. 1 n.c. n.c.
2 A- n.c. 2 n.c. n.c.
3 DATA + 14 3 n.c. n.c.
4 PTC + 8 4 Sin -,1 c/r 5
5 CLOCK + 3 5 Cos +,1 c/r 3
6 n.c. n.c. 6 Cos -,1 c/r 4
7 0V 1 7 Resex- 10
8 KTY84 + n.c. 8 KTY84 + n.c.
9 KTY84 – n.c. 9 KTY84 - n.c.
10 + Vac 10 Resex - 11
11 B+ n.c. 11 n.c. n.c.
12 B– n.c. 12 n.c. n.c.
13 DATA – 9 13 n.c. n.c.
14 CLOCK – 4 14 Sin +,1 c/r 2
15 0V sense n.c. 15 n.c. n.c.
16 Vac sense n.c. 16 PTC + 8
17 PTC – 1 17 PTC - 1
信号插座 /Signal Connector M23-17 Pin

S i n C o s E n c o d e r Ty p e S 1
PIN Function AxV Port S2 PIN AxM Port E1 PIN
1 A+ 1 7
2 A- 14 12
3 I + (index) 3 14
4 Sin –, 1 c/r 6 5
5 Cos +, 1 c/r 17 3
6 Cos -, 1 c/r 5 4
7 0V 10 1
8 PTC + 11 8
9 PTC – / KTY – 13 1
10 + Vcc (5Vdc) 25 6
11 B+ 2 15
12 B- 15 13
13 I – (index –) 16 9
14 Sin +, 1 c/r 18 2
15 0V sense n.c. n.c.
16 + Vcc sense n.c. n.c.
17 KTY + n.c. n.c.
30
电源（U303/305/307）
Power（Size 303,305,307）
接线 /Wiring
使用屏蔽率 >85% 的屏蔽电缆

当电缆长度超过 20m 时，需要接入一
个＞ 1mH 的电感。
Use shielded cable only, with shield

cover- age > 85%
Power cables longer than 20 meters
may Insert series induc-tance > 1mH.
编码器 /Encoder
在工厂完成调零，匹配菲仕驱动器的情
况下不需要另外匹配编码器零位。
Phasing performed at factor y, no

further phasing is necessary if the
motor is coupled to the drives of
Physis.
电源插座 /Power Connector 电源插座 /Power Connector

M23 Size 1- 5+ PE M40 Size 1,5-2+3+PE
针脚号 /PIN 描述 /Description 针脚号 /PIN 描述 /Description
1 Phase A U Phase A
2 Phase B V Phase B
3 GND W GND
4 制动器 /BR + (Option) + 制动器 /BR + (Option)

5 制动器 /BR - (Option) – 制动器 /BR - (Option)
6 Phase C
电机额定电流＞ 30Arms
For motors with Inom > 30 Arms
电机额定电流≤ 30Arms
For motors with Inom <= 30 Arms
31
电源（U310/313/318）
Power（Size 310,313,318）
接线盒 142×142
CONNECTION BOX 142×142
接线盒 175×175
32
接线盒 240×195
接线盒 353×264
(*) 如果存在的情况下
接线定义 /Connection box configuration 接线定义 /Connection box configuration
If present!
1 Phase W 7 风扇 /Fan *
2 Phase V 8 风扇 /Fan *
3 Phase U 9 内部接线用 /Reserved for internal use*
4 GND 10 内部接线用 /Reserved for internal use*
5 制动器 Brake (+ 24V) * 11 内部接线用 /Reserved for internal use*
6 制动器 Brake (0V) *
33
Safety Brake Specification
安全制动说明
电机型号
U303 U305 U307 U310 U313
Motor size
最小静态力矩(120℃ ) Nm 4 9 32 140 300
Min. static torque（120℃）
制动时间
ms 15 25 40 100 300
Operate time
释放时间
ms 40 40 100 180 350
Release time
释放电压
Vdc+/-10% 24
Release voltage
释放电压
Adc 0.58 0.75 1.08 2.3 1.7
Release voltage
附加重量
kg 0.65 1 3 11 18
Additional mass
惯量
mkgm² 0.022 0.065 0.6 5.6 20
Inertia
电机转矩衰减
% 9.5 8 8.6 6.5 4.8
Torque derating of motor
电机长度增加量
mm 30 33 50 65 80
Additional motor length
对于最短电机，如果制动后不降低电压，在 65℃ Δ T 时，电机转矩衰减为此值。如果制动后将电压降低到 12V，或

强制冷却，电机转矩衰减将小于 2%
Derating of nominal torque at 65℃ ΔT , for the shortest motor in the size, without voltage reduction after operate.
For voltage reduction at 12V after operate, or forced cooling, derating < 2%.
Motor & Machine Protetion

电机和机器保护
PTC Characteristics KTY Thermal Sensor, option W
Ω
10^4
1500
1400
4000
1300
KTY84 阻值 /KTY84Resistance value(Ohm)
1200
1330
热时间常数 /Thermal time constant≤3s
10³
1100
550
1000
RPTC RPTC
350 900
800
10² 250
700
600
TNAT+15K
20℃
25℃
TNAT-20K
TNAT+5K
TNAT-5K
500
TNAT
400
10¹ 0 20 40 60 80 100 120 140 160
TNAT=130℃
TYPE: KTY84 - 130
保护传感器 PTC 的电阻与温度关系 /Protection device (PTC)
resistance vs. temperature Green and blue bands: limits of PTC 温度 /Temperature (C)
tolerance values
34
Application Guidelines
应用指南
前言电流直到电机实际速度和要求速度一致。如果负载突然加
大，速度将被减小，传感器捕捉出这种速度改变，驱动器
通过增加电机扭矩去满足负载的增加，并重新返回到设定
目前，基于稀土永磁体的交流无刷伺服驱动系统，能
的速度。通过这个例子，可得出如下结论：
提供最高水平的动态响应和扭矩密度。所以拖动系统的发
● 速度精度几乎与负载和电机无关，而只取决于传
展趋势是用无刷伺服驱动取替传统的液压、直流、步进和
感器信号的质量和驱动器的速度与控制算法。
AC 变频调速驱动，以便使系统性能达到一个全新的水平，
● 负载波动与速度校正之间的时间滞后，完全取决
包括更短的周期、更高的生产率、更好的可靠性和更长的
于速度、传感器的分辨率以及电力驱动装置的参数设置。
寿命。为了实现用新的电机更好地改善系统性能，就必须
现代无刷伺服驱动系统由于具备非常高的闭环特性，
对这一技术特点有一个深刻的理解。事实上，如果仅简单
可在毫秒级或者更小的时间滞后中就能够对传感器信号作
用新的驱动技术取代传统的电机，而未进行新的设计，将
出反应。
会产生一些意想不到的问题，并且有时候甚至会使机器的
然而，在这一点上，通过机械联轴器的传递时间通常
特性降低。
成了系统响应效果的最主要限制。
在对这些新的驱动技术缺乏基本了解的前提下，本使
例如：假设有一个系统，用伺服电机通过同步齿形带
用指南，可为您提供新开发应用最佳解决方案的基本思路。
驱动一个恒定速度的、大惯性的负载。齿形带有效、定长
如遇某些应用场合，所需性能和电机的选择有争议或另有
且有弹性。试想，要获得毫秒级的速度校正能力，可得出
更好的解决方案，请与我们联系。
下列结论：
1) 驱动器一旦将电流送到电机，电机须立即产生扭矩。
2) 一开始，齿形带会变形伸长，负载不会加速到像电
驱动及机械连接的选择
机那样快。
3) 从而因此，电机比负载提前到达设定的速度，装在
所有驱动应用的成功都取决于对全部系统参数的仔细
电机上的传感器则返回信息削弱电流，继而终削弱扭矩。
选择。因而就需要对现代无刷驱动系统的性能指标做到很
4) 随着齿形带的张力的不断增加使电机速度变慢，迫
好的理解（有些性能参数非常高，但要完全理解却比较困
使驱动器又去增加电流，一个新的周期又开始了。
难）。事实上，无刷驱动系统并不单纯的取决于电机，而
在这个例子中，系统是振荡的，电机扭矩是脉动式的，
是一个完整的复杂的控制系统，这就导致了在设计上具有
负载速度也随之脉动。其结果是噪音、过热和磨损，这没
更大的自由度，比传统的驱动装置需要选择更多的参数。
有一样是由于电机的缘故。然而肤浅的使用者将认为电机
从概念性的观点来看，一个高性能的无刷电机驱动系
是噪音源，事实上，如果用老式的大机座大惯性电机更换
统类似于在标准磁感电机上，增加了一组扬声器的功放。
电机，这种问题就有可能消失，这就给人一种错觉，似乎
从而使电机具有非常短的响应时间及有限的惯性，因此
新的驱动系统并不是很有效。
可使电机尽最大限度的适应各种控制信号。就像扬声器一
这种简单的理解是错误的，事实上，分析以上例子：
样，最终的控制品质更多的是依靠所选择的系统参数和驱
①这种不稳定性，是由于系统反应速度（快）与机械
动条件而不是依靠电机本身。
传递或者反应时间（慢），不相匹配而引起。即电机反应
系统设计者面对设计选择，不但要考虑机械、电子和
快于系统调整新的扭矩所需的时间。
电力等方面得各种参数，同时还要考虑其相互间的影响。
②可行的解决方案是：其一：要么，减少机械系统
总体来说，所有系统都要求做下述两个基本选择：
的反应时间—通过增强联轴器的刚性和降低系统惯性；如
① 机械方面：机械联动装置的选择，传动比的选择，
直接驱动或用齿轮箱代替齿形带。要么降低控制系统的速
转换方式的选择，以及联轴器和离合器的选择。
度—通过放弃一些控制带宽；而这需要用新的技术来实现。
② 电子方面：反馈方式，传感器类型和数量的选择，
其二：当然要牺牲一些品质，如降低对突变负载波动的快
传感器的安装方式，放大器的类型，同步和控制总线等的
速反应能力。事实上，老式驱动装置都很慢 , 他是用大电
选择。
机的惯性补偿速度的不足。另一方面，由于无刷电机的惯
下面内容，可帮助设计者针对应用特征的功能进行选
性是很小的，因而就需要一个好的控制带宽以保证良好的
择。
旋转精度。所有这些都可说表明，为什么无刷电机驱动系
统与机械方面精度差，如反向间隙、键槽等因素特别敏感。
因为这个原因，最好的电机都制造成不带键槽的圆形光轴，
无刷驱动 : 操作规则 , 性能特征和限制
并采用带锥度的紧配件连接。其输出轴和法兰均需精密加
工，以便省去柔性连接器。如果必须有柔性连接器，那他
所有的无刷伺服系统包括：电力驱动、伺服电机和至必须有抗扭刚性，如金属波纹管型。
少一个反馈传感器。所有这些部件都在一个控制闭环系统结论：
中运行：驱动器从外面接收指令信息，然后将电流输送给由于传统驱动系统（永磁直流电机，交流变频电机）
电机；通过电机转换成扭矩，然后带动负载；负载根据他自身的惯性和响应时间限制了其使用性能，因而具有更好
自己的特性进行动作或加速；传感器测量负载的位置，使应用性能的高水平新型无刷驱动系统就需克服传统应用场
驱动装置对指令信息值和实际位置值进行比较；然后通过合的诸多机械限制。
改变电机电流使实际位置值和指令信息值保持一致。因此，今天机械系统的设计验证或系统升级，比以往
例如：要求一个恒定速度，驱动装置将不断增加电机任何时候都更为重要。新方案的成功与否与整个系统的动
35
态设计密切相关。对任何传输系统来说，负载参数都能按以下方式转换
从上面简单的例子中还可以得出以下准则：成电机轴的参数。如果 n= 传动比（电机与负载速度之比，
● 速度精度只取决于传感器，而与电机无关。若从直线运动转为旋转则为 rad/m）：
● 跟随速度和对突变负载波动的补偿能力，完全取 ● 电机扭矩 = 负载扭矩（或推力）/n
决于机械连接器的刚性和品质。 ● 电机速度 = 负载速度 *n
在差的或改型后较差的应用系统中，经常听到的噪音， ● 减至电机轴端的负载惯性 = 负载惯性 ( 或质量 )/
既不是来源于电机，也不是驱动器，而是来源于“原始的” n2
机械连接器。事实上，噪音是由于电机“捕捉”正确扭矩在上面列举出来的传输方式中，第一种齿形带是最便
而产生，在这种情况下，电机有可能产生与负载无关的过宜的，同时也是最慢的，他们只能用于小的控制带宽（小
热。在同一系统中，老式电机也许会正常工作，这是由于于 10Hz，使用高刚性齿形带），为了避免传输到电机轴
大基座电机的惯性，“掩盖了”其所有的不足。的负载惯性远远大于电机本身的惯性，那么选择适当的传
对应用系统动态要求的分析是选择电机的基础。动比就尤为重要。齿形带类传输方式不能用于转换时间远
为达此目的，这一广泛的概念可分解为两个因素：小于 1 秒钟的位置控制场合。
● 大信号带宽：这是产生足够扭矩和速度的根本，如果齿轮减速器的齿隙比系统要求的精度低很多的情
可在非常短的时间内，迫使负载达到理想的运行轨迹。这况下，齿轮减速器的确是很好的解决方案。最好的减速器
完全取决于电机、负载扭矩和系统惯性，且须将系统所有（也是最贵的）就是外摆线。有很多特殊系列的摆线和外
部件按无限刚性部件进行研究。摆线减速器，是专门针对伺服控制而设计的，其输出轴的
● 小的信号带宽或控制带宽：其数值与稳定时间的齿隙被限制在每分钟 1'-3'。只有这样的减速器才能具体
倒数相关。一般需低于系统中的任何机械共振频率，其倒用于控制带宽高于 10Hz 的应用场合。伺服系列减速器均
数值为控制环的稳定时间（如在满足所需精度的前提下，被设计成用刚性联轴器直接与电机轴相连，一般不用键槽。
在运动命令的末尾，要达到目标位置所需的时间）。典型谐波驱动齿轮箱被设计为专用于位置控制。他具有体
的，要想使稳定时间达到所有负载和连接器上振荡或共振积小、传动比大、反向间隙小等特点。其刚性并不是很好，
所需滞后时间的 2—3 倍，一般是不可能的。可取得的控制带宽在 10Hz—30Hz 范围。由于效率有限，
举个例子，假设有一台高速冲床的分度轴 , 其额定因而只能用于位置控制场合。
速率定为 10 次 / 秒，即工件位置每秒变化 10 次。如果螺杆减速器使用场合有限，这类齿轮虽然很普通也
整个传动链（轴、减速器、传动带、滚珠丝杠等）的共不贵，但是却不适合位置控制。蜗杆的效率是依靠有效润
振频率为 50Hz 系统稳定时间大约 50—60msec，只剩下滑来决定的，蜗杆在低速运转时，其效率急剧下降，原因
40ms ec 去移动和冲切。由于需要非常高的扭矩和加速性是低于一定速度时，油膜就无法形成，从而使效率下降，
能，所以这种应用几乎是不可能的。磨损加剧。
然而，如果增强传动链的刚性（如用长丝杠代替传送无论在任何地方需要旋转到直线转换，滚珠丝杠可
带等），那么传动链的共振频率可增至 100Hz，稳定时间提供高达 4m/s 的高品质解决方案，特别是当滚珠丝杠直
减少至 25-30msec，移动时间翻倍，所需的扭矩减半，接由电机驱动时，更是如此。低惯量电机的直接驱动一般
应用也就没有问题。不再需要扭矩限制离合器。在比较长的移动场合，有必要
检查丝杠的抗弯及抗扭刚性，这会限制系统的控制带宽。
大位移运动常用齿轮— 齿条来实现，但其较大的反向间隙
最优化驱动设计：则会限制系统相应周期，并引起电机噪音。传统的间隙消
传动比转换方式联轴器除方式是增加了楔形条减少非线性，同样利用摩擦轮也可
产生相同的效果，但都会对系统周期带来限制。
快速且准确的运动场合，可用金属带代替齿形带以增
无刷电机的体积大小是由电机输出扭矩来确定的。强刚性。这项技术尚不普及并且没有标准，但是在控制小
因此，在所有的应用中，低的电机速度将产生低的额定功负载（几公斤）情况下却能达到极好的性能。
率和相对低的效率。另一方面，无刷电机没有最小速度限然而总的来说，直线电机作为高精度直线运动的控制
制（其速度仅由所用的传感器来决定，如某些应用中，其方式是最佳的。
轴的速度是每年转 1 转）, 因此，若有人提议用高速齿轮箱，为了在具体的应用场合选择最适合的减速方式和传动
这只能减少电机的重量（如电力牵引）或提高效率。从费比，先将应用分成两个大类：
用或动态性能的观点来看，则不提倡这种方案。无论在什 ①功率伺服：当电机用于功率控制场合（如主轴、
么地方，只要电机直接作用于负载，控制带宽就是最大化牵引、缠绕、传送等）时，其动态性能非常重要，主要是
的，因为这已达到了最大化的传输刚性。因此，这些应用控制功率。往往电机费用是系统费用的主要组成部分。
可提供最佳的位置控制和具有最短稳定时间的跟随精度。 ②位置控制或宽调速（电子凸轮轴）：在这些应用中，
在为具体系统选择适当驱动方式之前，有必要先了解绝大多数能量用于在极短时间内的加速、制动和目标定
一下可用的机械传输方式。最常用的传输方式有以下几种：位，同时对精度也有或多或少的要求。
①旋转到旋转的转换从传统意义上说，上面提到的两种方法也可称为主轴
● 齿形带驱动和坐标轴驱动。
● 斜齿轮减速器在第一种情况下，动态特性并不重要，因此简单的减
● 摆线及外摆线转减速器速器就能够满足要求。由于功率常常是相对的，带减速器
● 谐波驱动的机械传输结构通常是很有用的。为了选择最好的传动比，
● 蜗杆减速器或格里森（Gleason）齿轮转速需达到 4000RPM，电机成本和体积的减少与传动比
②旋转到直线运动转换的增加成准线性关系。另一方面，传动系统成本的增加与
● 齿形带齿轮级数或滑轮数量密切相关。从应用成本的观点出发，
● 齿轮齿条综合成本的最小化主要取决于：
● 金属带 ● 可否直接驱动
● 滚珠丝杠
36
● 可否只用一级减速就可达到速度所需的最大传动控制方式的选择
比
● 可否只用两级减速就可达到速度所需的最大传动
所有的驱动系统都可以按照三种主要控制方法来分
比
类：
● 依此类推
● 力矩控制（速度取决于负载）
在这种情况下，通过检查上述因素，并把电机的成本
● 速度控制（扭矩取决于负载）
加入减速器的成本一起考虑，就能实现经济最优化。
● 位置控制（扭矩取决于负载）
对所有动态应用（多轴）场合，情况是完全不同的。
第一种方法最容易实现，可用来控制产生所需的拉
如果在驱动周期中所要求的扭矩主要是由惯性扭矩（包括
力或推力（如缠绕 / 反绕、纺织、薄膜 / 纸张处理等）。
电机和负载的惯性）决定的话，那么减速比的增加，则会
对无刷电机而言，力矩控制具有天生的或固有的优越性，
引起负载冲击惯性的下降和电机冲击惯性的增加。因此，
常常只控制电流。因此，力矩控制对传感器要求最少（仅
对于惯性负载的应用场合，传动比可由电机的最小扭矩当
需换向器或霍尔传感器），而且非常快（控制带宽大于
然也是最小的电机来确定，前提是，负载惯性用该传动比
300Hz），非常稳定，几乎与负载无关。力矩控制的驱动
转换到电机轴时，应与电机本身的惯性相当（即惯性匹配）。
器只有单纯的放大器，无需校准和调节，因此是最简单的
基于这一原因，惯性匹配法是长期以来被认为最好的
控制器。由于电机摩擦、齿槽效应、爬行和传感器漂移，
齿轮传动比选择工具。然而，这种方法仅仅是一个提示。
控制精度不是很高，典型的控制精度在 5-10% 的范围之内。
事实上，由于高质量减速器的成本是电机的两倍，小型号
在快速的现代 NC 或控制板的多轴应用系统中，多轴
电机并不适用与低成本应用场合。更进一步说，质量和性
必须互联（多组电子齿轮和凸轮）、或带自适应控制、或
能主要是由于齿轮的间隙和轴的弹性变形量来决定，而不
带参数变量，那么简单而有效的方法就是采用力矩控制
是电机本身。因此，传动比的选择只考虑电机的因素存在
模式，并将其他控制环并入 NC。这样编码器信号直接到
明显不足。下面是一些更好的规则：
NC，所有驱动都是平等的、相当稳定的、且无需编程。
● 任何高于惯性比的传动比都是错误的。
所有的系统和控制参数（偏移量、PID 值等）都集中在
● 最好的传动比总是低于或等于惯性比，并且要考
NC 或控制 PC 机上。
虑电机和减速器的成本。
驱动器可以互换，不必编程也不需下载任何参数。到
● 与小的传输比相比，大的传输比会使控制带宽变
驱动器的控制信息只是简单的力矩差分信号，对偏移量不
窄、精度下降、能耗增大。
敏感。编码器直接反馈到 NC 系统，驱动器仅读取换向系
这些因素充分说明，由直接驱动取代齿轮减速是当
统的值。在多轴系统中，这种简单而有效的方法给多轴
前的发展趋势。
系统带来了非常好的特性，却没有引起高速总线带来的成
无论转换到电机轴的负载惯性比电机本身惯性大几
本和复杂性的问题，这种高速总线即限制轴的数量有限制
倍，只要仔细考虑也是可行的，这是因为电机惯性在系统
速度。另一方面，在需要高分辨率的场合，若还将编码器
中可能出现的机械共振和负载波动时，并非一成不变。因
的信号直接送入 NC 或者 PC 机上进行处理，就非常麻烦。
此，需要具有大的控制带宽，以便用电子方式补偿由惯性
速度控制是最传统的方法。他常被集成于一体，这
本身引起的不足。为此，这些应用中的机械传动机构需要
样速度偏差就受制于系统偏移量。在数字驱动中，速度环
高质量、高刚性、无间隙（无键槽）。
是由位置环（见下段）衍生来的。
从分析观点来看，完全直接驱动取决于系统的扭转
定位或位置控制只能用数字驱动器实现伺服放大驱
刚性。电机轴首先要有非常好的扭转刚性，这对（虽然
动。这种方法，稳态位置和速度跟随误差可限制在传感
在 Ultract III 设计中利用大轴来使其最优化）长而细的电
器的几个点，如果传感器具有 4096 脉冲 / 转，则可达到
机非常有效。事实上，Ultract III 范围完全覆盖，相同的
1/16000 的分辨率。在多轴（电子轴或电子凸轮）同步应
扭矩既可以通过长而细的电机又可以通过短而粗的电机获
用中，不管是在驱动器的内部还是外部，位置环必不可少。
得，因为：
● 长电机有最小的运动惯量，适合于低惯性负载及
高加速的场合。驱动器和电机的大小的确认
● 短粗的电机具有最大的扭转刚性，适合于大惯性
负载，一般电机的惯性要比负载惯性小很多。
在选择好电机和传动方案以后，就必须对电机和驱动
作为参考：假设一钢制轴，其直径为 D，长度为 L，
器的大小进行确认。对于速度和负载相当稳定，或者其变
那么轴的扭转刚度为：
化周期大于电机（或电子系统）的时间常数的应用场合，
这种确认都是很容易的。在这种情况下，只需确认最大负
载是否在电机和电子系统允许的限制范围内即可。
对于负载变化周期很快的场合，确认应该按如下步骤
进行：
若负载惯量为 JL，轴的扭转刚度为 Sm，那么负载
（1）绘制周期的速度 / 时间图，要考虑，如何获取
的扭转共振的频率为：
精确的位置和所需速度；还要扣除判断系统速度和加速度
门限值所需的时间；而且，稳定时间等于系统控制带宽频
率倒数的 2-3 倍。
（2）将系统惯量和负载转换到电机轴上。
（3）计算加速度和惯性扭矩的周期，同时也要检查
在所有用了大惯量和短稳定时间的应用场合，强烈建
联轴器，离合器和传动机构的惯量。惯性扭矩 = 加速度 *（电
议（首先）对第一次扭转共振频率进行检测。
机惯量 + 转换到电机轴的负载惯量）
（4）将电机轴上的负载加上惯性扭矩，绘制出一个
周期内的扭矩 / 时间图。
（5）通过检查扭矩 / 时间图，可获得扭矩的均方根值。
37
例如：按相同的扭矩，将周期分成时间段 t1，t2......tn。
FORREWORD
如果在每个时间段的扭矩值各为 C1，C2，......Cn。那么
周期中扭矩的均方根值就是： AC brushless servo drive systems, based on rare earth PM
magnets, provide the highest level of dynamic performance and
torque density available today. The trend to replace conventional
hydraulic, DC, stepper or inverter driven AC drives with brushless
（6）用相同的公式计算周期中（eff 中速度的均方
drives yields to a new level of system performance, in terms of
shorter cycle times, higher productivity, improved accuracy coupled
根值或有效值。 with shorter settling times, increased reliability and longer life. In order
（7）计算在周期中的平均扭矩。 to achieve the steep performance improvement which is feasible with
（8）计算在周期中的 tcmax：最大扭矩下的最大执 the new motors, however, a good understanding of the characteristics
行时间。 of this technology is a prerequisite. In fact, just replacing a
（9）计算在最大速度 Cwmax 时所需的扭矩。
conventional motor with a new technology drive on a machine not
designed for high speed control could result in unexpected problems
（10）计算最大扭矩 Cpk。 and at times even in a deterioration of the machine operability.
所获得的数据还必须与电机和电子限制值进行比较以 These application guidelines were designed to provide a basic
便进行确认。 tool for the optimization of new applications without prior knowledge
of these new drives. For applications where the performance or the
motor stress is perceived to be critical, or where a full optimization
电机大小的确认 could be beneficial, contact the Factory.
无刷电机是极好的扭矩传送器，其峰值扭矩比额定值 DRIVE AND MECHANCAL LINKAGE

高好几倍。因此，可获得的峰值扭矩通常仅取决于所选用 SELECTION
的电子驱动器。电机尺寸大小的确定要考虑电力和发热两
个因素，最佳的电机尺寸是可满足在最差的负载情况下， The success of all drive applications dictate a careful selection
电机具有正常的温升，一般比环境温度高 40℃ -50℃即可。 of the complete system parameters. This in turn is based on a good
全面检查电机选择是否适当，可分三个步骤：
understanding of the capabilities, which are very high but often
not fully understood, of modern brushless drive systems. In fact,
● 控制器的峰值或退磁扭矩 brushless drives are not motors, but complete, and complex, control
● 发热对尺寸的限制 systems; this results in more degrees of design freedom, and more
● 电力、或绕组对尺寸的限制 parameters to select, than a conventional drive.
1、退磁电流检查，按下式比较最大电流： From a conceptual viewpoint, a high performance brushless
motor is more similar to the membrane of a loudspeaker than to a
standard induction motor. Just as a loudspeaker, the motor has a
very short response time, limited inertia, and therefore it faithfully
copies the control signal, whatever it may be.Just like a loudspeaker,
由于电机的退磁电流会随着温度的降低而增加，这种 the quality of the result depends more on the system parameters and
检查仅对小电机有意义。 drive conditions than on the motor itself.
2、温升检查，首先，检查 Ceff，（eff 点是否在所选
The design choices facing the system designer are thus at the
same time mechanical, electric and electronic, and such choices are
电机的连续操作区间（S1）内。更进一步，由下列公式 interwoven, requiring an interdisciplinary approach.
推算出电机温升值： In particular, all systems require two fundamental selections:
● Mechanical level: choice of the mechanical linkage, of the
transmission ratio, of the motion type conversion, of the couplings
and clutches;
● Electronic level: Feedback strategy, sensor type and number
其中 Ln 代表电机温度升高 65℃的正常损耗。 selection, sensor placement, amplifier type, synchronization and
如果推算出来的温升值高于电机最大或允许的温升 control bus.
值，那么就必须选择大一号电机。 The next chapters outline a few guidelines to help with the
注意：温度的显著升高通常是选用更大电机的最佳 selection as a function of the application characteristics.
理由。
3、电力大小检查 THE BRUSHLESS DRIVE:
在最大速度的情况下，电机输出最大扭矩时所需要 O P E R AT I O N A L P R I N C I P L E S ,
的电压值必须小于或等于驱动器所能提供的电压。最小的 CHARACTERISTICS AND LIMITATIONS
主电源电压是由满足全部给定操作而定的（通常为额定电
压的 90%）。如果电子驱动器电源所能提供的最小主电 All brushless servo systems consist of an electronic drive, a
源电压为 Emin，可按下式进行检验： servo motor, and at least one feedback sensor. All these component
operate in a control loop: the drive accepts a reference from the
outside world, and feeds current to the motor. The motor is a
torquetransducer and applies torque to the load. The load reacts,
or accelerates, according to its own characteristics. The sensor
如果上面的条件不能满足，就需选择带高速绕组的电 measures the load position, enabling the drive to compare the motion
机，当然也要求更大的驱动电流。 with the reference and to change the motor current to force the
motion to copy the reference.
As an example, if constant speed is required, the drive would
increase the current to the motor until the motor speed equals the
reference. If the load is suddenly stepped up, the speed diminishes;
the sensor detects the speed change and consequently the drive
increases the motor torque to match the increased load and to return
to the set speed. From this example, a few deductions are possible:
38
● The speed accuracy is virtually independent of load and ● The following speed, and therefore the ability to compensate
motor, but depends on the quality of the sensor signal and the speed for sudden load variations, depends critically on the stiffness and
and control algorithm of the drive; quality of the mechanical linkage.
● The time lag between load perturbation and speed correction The motor noise, which is often observed in poor or retrofit
depends critically on the speed and resolution of the sensor and on applications, is not due either to the motor or the drive but often
the parameters of the electronic drive. enough to a “primeval” mechanical linkage. In fact,noise in due to the
Modern brushless servo drives react to sensor signals with time motor “hunting” for the correct torque; in this situation, the motor is
lags in the order of a millisecond or less, providing for very high loop likely to overheat irrespectively of loading.
performance. The same system might have worked well with an older drive,
At this level, however, the propagation time through the where the large motor inertia Lrolls overLall imperfections
mechanical linkages often becomes the prime limit to the system The dynamic study of the application is fundamental to the
dynamics. motor selection.
As an example, consider a system in which a servo motor To this aim, this broad concept can be divided in two elements:
drives a constant speed, large inertia load through a timing belt. The ● Large signal bandwidth: this is the raw ability to deliver
timing belt has a finite, and significant, elasticity. Analyzing a speed enough torque and speed, in sufficien- tly short time, to force the load
correction at the millisecond timescale, the following sequence is on the desired trajectory. This depends exclusively on motor and load
obtained: torque and inertia, and can be studied considering all components as
1 The drive sets a current level through the motor which infinitely stiff;
applies a torque almost instantly; ● Small signal bandwidth or control bandwidth, which relates
2 Initially, while the belt is being stretched, the load does not to the inverse of the settling time. This is necessarily lower than any
accelerate as fast as the motor; mechanical resonance frequency in the system; its inverse expresses
3 Consequently, the motor reaches the set speed before the the settling time of the control loop,i.e. the time required at the end
load; the sensor, on the motor, cuts the current and consequently the of a motion command to settle in the target position within a required
torque; accuracy. Typically, it will be impossible to achieve a settling time
4 The increased tension of the belt slows the motor down better than 2-3 times the damping time of all the oscillations or reso-
forcing the drive to increase the current again, and a new cycle is nances in the load and linkage.
initiated. As an example, consider the indexing axis of a high speed
In this example, the system is oscillating; the motor torque notching machine. The rate target is set at 10 strokes per second,
pulsates and so does the load speed. The end result is noise, i.e. the drive starts and stops the workpiece in a new position ten
overheat and wear, none of which are clearly due to thewould times per second. If the whole linkage (shaft, reducer, belts, ball
likely disappear, increasing the feeling that the new drives are not screw etc) has a first resonance frequency of 50 Hz, the system
adequate. will settle in about 50-60 msec, leaving only 40 msec for the move
This simplistic understanding is erroneous. In fact, analyzing the and the punch! This application is near impossible, as very high
above example: torque and accelerations would be needed. However, if the linkage
1 The instability is due to the mismatch between the system is stiffened, by removing the belt, adopting a larger screw, etc. so
reaction speed (high) and the mechanical propagation or reaction that the resonance frequency of the linkage is increased to 100 Hz,
time (long); the motor reacts quicker than the time required by the the settling time is reduced to 25-30 msec, the time available for the
system to settle through the new torque configuration; move is doubled, the required torque is halved, and the application is
2 The possible solutions are: feasible.
either to reduce the mechanical system reaction time, by
stiffening the linkage and lowering the inertias, e.g. going direct drive
or replacing the belt with a gearbox; or to lower the speed of the OPTIMAL DRIVE DESIGN:
control system, giving up some control bandwidth which would have THE TRANSMISSION RATIO, THE TYPE
been achievable with the new technology.
The second solution, of course, sells away some quality, as
OF CONVERSION, THE COUPLINGS.
it impairs the capability to react quickly to sudden load variations.
In fact, older drives, which were anyway slower, compensated the The size of brushless motor is determined by its output torque.
lack of speed with a large motor inertia; on the other side, brushless In all applications, therefore, low motor speed yields to a low specific
motors, where inertia is minimized, need a good bandwidth to power and relatively low efficiency. On the other hand, brushless
guarantee good rotation accuracy. motors have no minimum speed (the speed depends only on the
All this explains why brushless drives are relatively unforgiving sensor used; there are applications whose axis speed is 1 revolution/
of mechanical inaccuracies, backlash, keyways etc.; year); as a consequence, a high gearing is advisable only to
For this reason, the best motors are manufactured with round minimize the motor mass (e.g. with electric traction) or to maximize
shaft without keyway, for interference coupling with conical fittings the efficiency; it is often not advisable from the viewpoint of cost or
(e.g. Ring-feder) and their shafts and flanges are machined to a dynamic performance. Wherever the motor is applied directly on
reduced tolerance to remove the need for flexible couplings. If a the load, the control bandwidth is maximized because maximum
coupling is needed, it needs to be torsionally stiff, such as the metallic transmission stiffness is achieved; consequently, these applications
bellows type. provide the best position or following accuracy with the shortest
In conclusion: settling time.
While traditional drive systems (DC of PM DC, inverter driven Before starting with the selection of the right drive for a specific
AC) would limit themselves, with their own inertia and response system, it is necessary to know the type of mechanical transmission
time, the performance of the application, the high level of the which can be used. The most common transmissions are the
new brushless drives move the performance threshold above the following:
mechanical limits of most traditional applications. As a result, the ROTATION-ROTATION CONVERSION
design verification of the mechanical system, and its upgrade to ● Timing belt;
the new requirements, is more important than it used to be up until ● Reducer with helical wheels and parallel axes;
now. The success of a new application hinges critically on a good ● Cycloid and epicyclic reducer;
dynamical design of the whole system. ● Harmonic Drive™;
The success of a new application hinges critically on a good ● Tangent screw reducer or Gleason gears.
dynamical design of the whole system. ROTATIONAL-LINEAR MOTION CONVER-SION:
A few rules can also be derived from the simple examples ● Timing belts;
above: ● Pinion-rack;
● The speed accuracy does not depend on the motor but on the ● Metallic band;
sensor; ● Ball screw.
39
For any transmission system, the load parameters can be step according to the number of gear stages or pulleys; from an
transferred to the motor axis as follows. application cost viewpoint, the minimum overall cost can only be
If n = transmission ratio (ratio between the motor and the load found in a few points, precisely:
speed, rad/m in the case of a conversion from linear motion): ● Either with a direct drive;
● Motor torque = Torque (thrust) to the load/n ● Or at the speed corresponding to the maximum ratio which
● Motor speed = Load speed x n is possible with just one reduction stage;
● Load inertia reduced to the motor axis = inertia (or mass) of ● Or at the speed corresponding to the maximum ratio which
load/n2 is possible with two reduction stages and so on.
Among all the listed transmissions, the first ones, which are The economic optimization, in this case, is carried out checking
the least expensive, are also the slowest; they result in low control these points and adding the costs of the motor to that of the reducer.
bandwidth (lower than 10 Hz, using a high stiffness belt); for the For all dynamic applications (axes) the situation is completely
same reason, it is important to avoid the ratios which make the load different. If the torque required in the drive cycle is dominated by
inertia transferred to the motor axis too much higher than the motor theinertial torques both of the motor and of the load, for an increase in
one. The belt transmission should not be applied for positioning the reduction ratio there is a decrease in the impact of the load inertia
applications with cycle times a lot shorter than one second. and an increase of the impact of the motor inertia. Consequently,
Gear reducers are a good solution, provided that their angular for an application where the required torque is exclusively inertial,
backlash is considerably lower than the accuracy required by the the reduction ratio at which the load inertia, translated to the motor
system; the best type of reducer (the most expensive too) is the axis, equals the motor inertia (inertial match) is characterized by the
epicyclic; there are special series of cycloid and epicycloid reducers minimum motor torque and therefore by the smallest motor.
purpose designed for servo controls, where the angular backlash at For this reason, inertial matching was long considered the best
the output shaft is limited to 1-3 arc minutes. Such reducers are the gear ratio selection tool. Such rule, on the contrary, is just a useful
only ones that can be specified for applications with control bandwidth indication. In fact, the minimum size motor, considering that the
higher than 10 Hz. The “servo series” reducers are designed to be cost of a quality reducer can double the cost of the motor, does not
coupled directly to the motor with a stiff coupling device, without correspond to the lowest cost application sizing. Furthermore, the
keyway. level of quality and performance is determined a lot more by gear
The Harmonic Drive™ gearbox was specifically designed backlash and shaft elasticity than by the motor itself. Consequently, a
for positioning. It has limited size, high ratio and low backlash. ratio selection which accounts for the motor only is clearly flawed. A
The angular stiffness is not very good and the achievable control better set of rules is the following;
bandwidth is in the 10-30 Hz range. Because of its limited efficiency, ● Any transmission ratio higher than the inertial ratio is wrong;
it should be used for positioning only. ● The best ratio is always lower or equal to the inertial one, and
Tangent screw reducers fit in a class apart. These gears, it is obtained considering the motor and reducer costs;
although common and inexpensive, are not suitable for position ● High ratios always yield a narrower control bandwidth and a
control. The tangent screw, whose efficiency is based on an effective lower degree of accuracy (with a higher energetic consumption) than
lubrication, display a low efficiency which drops dramatically at low what can be obtained with lower ratios.
speed, because below a critical speed the oil film collapses, efficiency These considerations explain the current attempt to replace step
drops and a quick wear ensues. down gears with direct drives.
Wherever a rotary to linear conversion is required, ball screws Wherever the load inertia transferred to the motor shaft is more
provide a quality solution up to about 4 m/s, especially if they are than a few times the motor inertia, however, care must be taken,
driven directly by the motor. Direct drive with a low inertia motor because the motor inertia is not there to carry out a stabilizing action
generally avoids the need of a torque limiting clutch. For very on the possible mechanical resonances or load disturbance on the
long movements it is necessary to check the flexure and torsional system. As a consequence, a high control bandwidth needs to be
stiffness of the screw, which may limit the system bandwidth. Longer achieved, to compensate electronically what is not obtained by inertia
movements are carried out with rack and pinion, which have always a alone; to do this, the mechanical linkage in these applications needs
significant backlash which generally results in limit cycling and motor to be of high quality, stiff and without backlash (no keyways!).
noise. The traditional backlash elimination methods add stick-slip non From an analytical viewpoint, extreme direct drives mandate a
linearity instead, and so do friction wheels, typically with similar limit check on the torsional stiffness of the system. The torsional stiffness
cycling results. of the motor shaft needs to be considered as well; this, although
Fast and accurate movements can be obtained with metallic minimized in the ULTRACT II design by means of large shafts, is
tapes replacing the timing belts with superior stiffness. This significant for the long and thin motors. In fact, the ULTRACT II
technique, while not well known and therefore not standardized, is range was purposefully overlapped, so that the same torque can
able to reach excellent performances in the control of small loads (a be obtained either with a long and narrow motor or with a short and
few kilos). stocky one. For this reason:
In general, however, linear motors rest as the best solution for ● Long motors have a minimum moment of inertia; they are
high accuracy control of a linear motion. intended for high acceleration with low inertia loads;
In order to select the most suitable reduction method and ● Stocky motors have a maximum torsional stiffness; they
transmission ratio for a specific application, it is useful to classify first are intended for high inertia loads, where the motor inertia is small
the applications into two broad families: compared to the load.
1 Power services : the motor supplies power to a process As a reference, the torsional stiffness of a shaft whose diameter
(spindles, traction, winding, conve- ying etc.), where the dynamic is D and whose length is L, made of steel, is:
performance is of marginal importance, the power controlled is
significant, the motor cost is an important frac- tion of the system
cost;
2 Position control :or high rate cycling (electronic camshaft),
in which most of the energy is used to accelerate, to brake and to While the frequency of torsional resonance of a load with inertia
position objects in a short time and with a more or less high accuracy. JI connected to an axis with torsional stiffness Sm is:
Traditionally, the two above mentioned categories are referred
to respectively as spindle drives and axis drive.
In the first case, the dynamic properties are often not important,
therefore simple speed reducers are acceptable and, as the power
is often relevant, a mechanical transmission with a reduction stage In all applications with large inertia and short settling time, a
is normally useful. In order to choose the best transmission ratio, check on the first torsiona resonance frequency is highly advisable.
consider that up to ~ 4000 RPM, the cost and size of the motor
decrease in a quasi linear way with the increase of the transmission
ratio. On the contrary, the cost of the transmission increases step by
40
CONTROL STRATEGY SELECTION 5 By inspection of the torque vs. time diagram obtain the
root mean square value of the torque: e.g. divide the cycle into
time segments t1,t2....tn inside of which the torque is constant;
All drive system can be configured according to three main if the torque values in each segment of the cycle are respectively
control strategies: C1,C2...Cn, the root mean square torque in the cycle is:
● Torque control (the speed depends on the load);
● Speed control (the torque depends on the load);
● Position control (the torque depends on the load)
The first strategy is the easiest to implement and can be used 6 Calculate the root mean square or effective speed in the cycle
when it is necessary to control a force or a pull (winders/unwinders, ωeff with the same formula;
textile, tape/paper processing, etc.). Torque control is native, or 7 Calculate the mean torque in the cycle Cave;
intrinsic to the brushless motors, which are always current controlled. 8 Calculate the maximum duration time of the maximum torque
For this reason, torque control has minimum sensor requirement (just in the cycle tcmax;
commutation or Hall sensor), is very fast (control bandwidth >300 9 Calculate the required torque at the maxi-mum speed Cwmax;
Hz) and intrinsically stable and robust irrespective of load. Torque 10 Calculate the maximum torque Cpk.
controlled drives are simple amplifiers which require no calibration The data thus obtained needs to be compared with the motor
or adjustment whatsoever and are therefore the simplest controllers. and electronic limits to validate the application.
Accuracy is not too high due to motor friction, cogging, ripple, sensor
drift; typically it can range in the 5-10% area.
In the multi-axes applications with very fast and modern NCs MOTOR SIZE VERIFICATION
or controller boards, where multiple axes must be linked (multiple
electric gears and cams), or with adaptive control or with variable Brushless motors are excellent torque transducers, linear to
parameters, a simple and effective strategy is to set the drives a peak torque several times the nominal. As a consequence, the
in torque control mode and to assign the other loops to the NC. obtainable peak torque is usually determined only by the choice of
In this way the encoders are fed to the NC, all drives are equal, the electronic drive. The correct sizing of the motor is thermal and
intrinsically stable and need no programming; all the system and electric; the optimally sized motor is the one which, on the worst load,
control parameters (offsets, PID values, etc) are lumped in the NC settles at the correct temperature rise, usually 40-50°C above the
or control PC. The drives can be replaced without programming and room temperature.
no download of parameters is necessary. The control signal to the The complete check of the selection of the proper motor is
drives is a simple differential torque reference, offset insensitive. carried out in three steps:
The encoders are fed directly to the NC; the drive only reads the ● Control of the peak or demagnetizing torque;
commutation system. This simple and elegant approach provides ● Thermal dimensioning;
very good performance in multiple systems without incurring the ● Electric, or winding, dimensioning.
cost and complexity of high speed field buses, which are anyway 1 Demagnetization current check
rather limited in the number of axes and in the achievable speed. On Compare the peak current , expressed by:
the down side, it downloads on the NC or PC the processing of the
encoders, which could be cumbersome where very high resolution is
needed.
Speed control is the most traditional strategy. It usually With the motor demagnetization current, considering that
embodies an integration term so that the speed error is limited to the the motor demagnetization current increases as the temperature
system offsets. In the digital drives, the speed loop is derived from decreases. This check is usually meaningful for small motors only.
the space loop (see next). 2 Temperature rise check
Position or space control in servo amplifiers is carried out only Preliminarily, check that the point Ceff, ωeff is within in the
by digital drives (AX-V). In this way, the steady state position and continuous operation area (S1) of the chosen motor. More accurately,
speed following error is limited to a few points of the sensor, that is the temperature rise of the motor can be predicted by:
in the case of an encoder with 4096 pulse/revolutions, 1/16,000 of
a revolution. Position loop capability, inside or outside the drive, is
necessary to synchronize several axes (electrical axis or electronic
cam). Where Ln represents the nominal losses of the motor with
temperature rise of 65°C.
If the predicted temperature rise is higher than the motor
CHECK OF THE DRIVE maximum or acceptable temperature rise, it is necessary to select a
AND MOTOR SIZING larger motor.
NOTE: the excessive temperature rise is generally the only
After selecting the motor and the transmission, a check of the good reason for the use of a larger motor.
correct sizing of motor and drive is required. Such check is easy for 3 Electric sizing check
applications where speed and load are quite steady or which vary At the maximum speed, the voltage required by the motor to
on a timescale which is long with respect to the time constant of supply the required torque must be lower or equal to what is available
the motor (or of the electronics). In this case, it is only necessary to from the drive, for the minimum mains supply voltage which is
check for the maximum load to be within the specified limits of the specified for full specification operation (usually 90% of the nominal
motor and the electronics. voltage).
1 Trace the speed/time diagram of the cycle, considering that If Emin is the voltage value which can be supplied by the
the acquisition of a precise position or speed requires, apart from electronic power supply at the minimum supply voltage, it is
the time determined by the limits on the speed and acceleration of necessary to check that:
the system, also a settling time equal to 2-3 times the inverse of the
system control bandwidth;
2 Transfer the inertia and the loads of the system to the motor
shaft; If this condition is not verified, it is necessary to choose a motor
3 Calculate the cycle of the accelerations and the inertial with a higher speed winding; this will of course also require a higher
torques [acceleration x (motor inertia + load inertia transferred to drive current.
the motor shaft)], checking also the inertia of couplings, clutches,
transmission devices;
4 Add the load on the motor axis to the inertial torque and derive
a torque/time diagram in the cycle;
41
Conformity Declaration
规范说明
符合 EC1.8.1.96 低压规范的声明 DECLARATION OF CONFORMITY TO THE LOW VOLTAGE DIRECTIVE

符合 EC 认证的操作说明 Operating instructions in compliance with EC directives
CE 符合低压规范标志 Declaration of conformity to the Low Voltage Directive
回收利用：ULTRACT III 所有产品所用 Recycling: all packages and packing tapes used in the ULTRACT III packing are recyclable
的一切包装材料均可回收利用
EC 规范 GENERAL: THE EC DIRECTIVES

EC 规范由欧洲共同体发布在欧共体国 The EC Directives are issued by the European Council and are intended for the determination of
家内实施，对公开技术需求和认证进行确认。common technical requirements and certification proce- dures within the European Community. The
该规范还需遵守各成员国的国家法律。一旦 Directives establish guidelines that are or will be converted in national laws in the member states.
在任一成员国取得认证，在任何欧共体国家 The certification issued in any state member guarantees free access in all the European Community
均可通用。 without further testing.
通过认证的产品或器件均需标明 CE The conformity of a product or component is certified by the CE marking on the product. In the case
标志。在变频驱动或 PDS 系统中，电机 of variable speed drives, or PDS, motors are considered components; the only directive which
只是其中的部件，因此只按部件通过由 applies to components is the Low Voltage Directive 73/23/CEE amended by 93/68/CEE. The CE
93/68/CEE 修正的 73/23/CEE 低压认证。 mark on the Ultract motors is referred to compliance to the LVD.
ULTRACT III 系列电机上的 CE 标志就是指 As for the EMCD, compliance is required at system level and not at compo-nent level, as EMI
已通过 LVD 认证。 emission depends critically on system composition and wiring. In order to help the user to comply
对 EMCD 认证来说，一般需要在系统 with the EMD directive, the Ultract motors have been tested and compliance was verified in a ìCE
级而非部件级符合规范。为了帮助用户符合 verified typical system, driven by a AX4 series drive. The system is described in the AX4 product
EMD 规范，ULTRACT Ⅱ系列电机在出厂前 documentation,
已通过符合 CE 规范的典型驱动器 -AX-V 系
列控制器的组合测试。详细说明可参阅 AX-V
的随机所带文件。
低压规范 THE LOW VOLTAGE DIRECTIVE

LVD 规范是在正常环境条件下，所有 The LVD applies to all electrical components operating between 50 and 1000 Vac or 75 to 1500 V DC
电力部件均可在交流 50-1000V 或直流 75- in under normal ambient conditions. Explosive atmospheres or passenger lifts are excepted.
1500V 电压之间操作。爆炸气体或载人电梯 The objective of the low voltage directive is to ensure that only that electrical equipment that does not
除外。 endanger the safety of humans or the preservation of material assets is marketed.
LVD 认证的目的是只有确保对人身安全
或指定材料无危害的电子设备才允许销售。
安全信息 SAFETY INFORMATION

本设备的运输、安装和操作必须有训练 Only qualified personnel are permitted to transport, install or operate the units (IEC 60364).
有素的合格人员完成（参见 IEC364）。 A defective installation or operation of the units with safety covers open may lead to personal or
在安全盖板打开的情况下，进行不良安 material danger;The motors may have live, hot and rotating parts inside during operation, even after
装可引起人身或材料损坏。电机在运行过程 the mains voltage has been disconnected
中，即使是在主电源断开之后，也有可能带 The motors use strong permanent magnets; the rotor should never be remo-ved without proper
电、发烫以及内部回转体旋转。电机内装有 safety precautions.
极强的永磁材料，转子在无安全保护措施的
前提下，千万不能拆卸。
应用指导 APPLICATION AS DIRECTED

ULTRACT III 系列伺服电机用于给工业 The Ultract III ervomotors are intended for the powering of industrial equipment.
装备提供动力。只有确认装备符合 89/336/ The entire drive systems may only be commissioned after compliance with the EMC directive 89/336/
CEE EMC 规范和 98/37/CEE 机械规范的前 CEE and the machinery directive 98/37/CEE has been verified.
提下，完整的驱动系统方可使用。 The motors are conformal to LVD 73/23/CEE. The technical data stated in the nameplate and in the
电机符合 73/23/CEE LVD 规范。铭牌 product documentation must be observed.
和产品说明书中的技术参数必须认真检查。
42
安装 INSTALLATION
本产品的安装和冷却均应符合相关文件 The units must be installed and cooled according to the product documentation.Ensure that the
的规定。确保电机在运输过程中无损坏，以 motors were not damaged during transport so as to impair user safety.When the unit is operated,
免影响使用者安全。本产品在运行中应遵循 the valid national regulations for the prevention of accidents must be observed.The electrical
有关防止事故发生的国家法规。电气安装时， installation must comply with the applicable regulations (cable sections, fuses, protections).When
必须符合有关规范（如电缆截面积、熔断丝等 using current operated protective devices, please note that most drive are equipped with an internal
保护措施）。使用常规保护装置时务必注意， mains rectifier, which can lead to a potential DC leakage current, which may impair the correct
大多数驱动器均带有一个内置式主整流器，其 operation of some current operated protective device. Protective devices which are insensitive to
最大电势时所产生的 DC 峰值电流，有可能会 DC fault currents must be specified. Additionally, EMC filters inside most drive create a leakage
使常规保护装置失效。因此，对保护装置的抗 current to ground which must be considered while selecting the protective devices.
DC 故障电流特性要倍加小心。另外，大多数 The opportune value inductances * 1 mH have to be applied when welding cables between driving
驱动器内部的 EMC 滤波器可对地产生峰值电 and motor have length superior than 20 meters. Please note that, irrespective of the CE marking
流，在选择保护装置时，也应考虑。 on the motors, the conformity of the drive system to the EMC directive is the responsibility of the
注意，无论电机是否带有 CE 标志，设备 manufacturer of the system or machine. Useful recommendations on wiring and filtering, along with
或机械的制造商都应遵守 EMC 规范。并向用 a CE compliance typical system, are described in the product documentation or can be obtained by
户推荐接线和滤波等规范说明，而且说明应与 the manufacturer.
带 CE 标志的产品一样，可在产品随机文件中 EC EX “conformità EC” Declaration of Conformityfor the purpose of the EC Low Voltage Directive
找到或由制造商另行提供。 EC 认证说明：本 73/23/CEE.
声明适合 72/23/CEE 低压规范的 EC 认证。 The ULTRACT brushless servo motor series were designed, manufactured and tested in conformity
菲仕公司在 Ultract 无刷电机系列产品的 to the EC Low Voltage Directive 73/23/CEE under the sole responsibility of:Ningbo Physis
设计、制造和测试中，完全符合 72/23/CEE Technology Co., Ltd.
低压规范。
适用标准： The considered standards are:

IEC 72/1, 34/1, 34/5, 34/11 IEC 72/1, 34/1, 34/5, 34/11
EN 60034-1 + VAR A1 + VAR A2 EN EN 60034-1 + VAR A1 + VAR A2 EN 60529
60529 EN 50262 CEE 73/23
EN 50262 CEE 73/23
43
Contact Information
联系我们
菲仕总部 PHYSIS HEADQUARTER
宁波菲仕技术股份有限公司
Ningbo Physis Technology Co., Ltd.
浙江省宁波市北仑区小港安居路 308 号
No.308, Xiaogang Anju Road, Beilun District, Ningbo, China
总台热线 /Tel：+0086-(0)574-26922600
菲仕生产基地 MANUFACTURING BASE
宁波菲仕运动控制技术有限公司
Physis Motion Control Ningbo Co., Ltd.
浙江省宁波市杭州湾新区滨海二路 248 号
No.248, 2nd Binhai Road, Hangzhou Bay New Zone, Ningbo China
总台热线 /Tel：+0086-(0)574-23459000
国内业务 Domestic Sales

销售热线 /Tel：+0086-(0)574-26922572
邮箱 /E-mail：lois @physis.com.cn
海外业务 Overseas Sales

销售热线 /Tel：+0086-(0)574-23459168
邮箱 /E-mail：andy@physis.com.cn
售后服务 After Sales

服务热线 /Tel：+0086-(0)574-23459183
邮箱 /E-mail：Aftersales@physis.com.cn
44

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Company Profile

转子 均匀一致 , 高耐温稀土磁钢，机械固定 ( 无需 Syntered, high temperature rare earth, mech

Locked rotor motor torque:

编码器： Sensor identifier:

ORDER CODE EXAMPLE :

电机型号 /Motor Code U30301A U30302A U30304A

堵转转矩 /Stall Torque 2) Md0 [Nm] 1.08 2.1 3.7

额定值 /Nominal Rating

效率 /Efficiency Eff [%] 71 78 65 78 83 74 84 87

机械参数 /Mechanical Data

重量 /Mass M [Kg] 3 3.2 5

制动器的机械参数 /Technical Data of the Holding Brake

重量 /Mass MBr [Kg] 0.65

惯量 /Inertia JBr [Kgcm²] 0.22

测试条件 / Test Condition

U30301A 145 116.5

电机型号 /Motor Code U30503A U30506A U30509A U30512A

堵转转矩 /Stall Torque 2) Md0 [Nm] 3.6 7.2 10.5 14

额定值 /Nominal Rating

电压常数 /Voltage Constant 3) Ke [V/1000rpm] 177 90 180 92 177 94 184 96

效率 /Efficiency Eff [%] 82 88 87 91 87 92 88 93

机械参数 /Mechanical Data

制动器的机械参数 /Technical Data of the Holding Brake

重量 /Mass MBr [Kg] 1

惯量 /Inertia JBr [Kgcm²] 0.65

测试条件 / Test Condition

U30503A 195 139.5

电机型号 /Motor Code U30710A U30720A U30730A U30740A

堵转转矩 /Stall Torque 2) Md0 [Nm] 10 19 27 35

额定值 /Nominal Rating

功率损耗 /Losses Loss [KW] 0.23 0.30 0.35 0.41

效率 /Efficiency Eff [%] 86 89 92 90 92 92 92 93 94 93 94 95

最大电流 /Max. Current (peak value) Imax [A] 12 15 22 23 29 44 34 45 81 44 49 98

机械参数 /Mechanical Data

制动器的机械参数 /Technical Data of the Holding Brake

重量 /Mass MBr [Kg] 3

惯量 /Inertia JBr [Kgcm²] 6

测试条件 / Test Condition

U30710A 208 184.5

电机型号 /Motor Code U30720F U30730F U30740F

堵转转矩 /Stall Torque 2) Md0 [Nm] 24 41 54

额定值 /Nominal Rating

效率 /Efficiency Eff [%] 90 90 94 85 91 94 85 93 93

最大电流 /Max. Current (peak value) Imax [A] 30 30 42 33 45 63 42 63 86

机械参数 /Mechanical Data

制动器的机械参数 /Technical Data of the Holding Brake

重量 /Mass MBr [Kg] 3

惯量 /Inertia JBr [Kgcm²] 6

测试条件 / Test Condition

电机型号 /Motor Code U30720C U30730C U30740C

堵转转矩 /Stall Torque 2) Md0 [Nm] 35 58 80

堵转电流 /Current @ Stall Torque 2) Id0 [A] 11 24 19 36 28 55

额定值 /Nominal Rating

额定电流 /Rated Current 2) IdN [A] 10 21 18 31 27 48

额定功率 /Rated Power PdN [kW] 5 9 8 16 12 22

冷却水流量 /Minimum Flow Rate Flow [L/min] 2 3 5

功率损耗 /Losses Loss [KW] 1.36 2.20 2.87

效率 /Efficiency Eff [%] 79 87 79 88 81 88

最大电流 /Max. Current (peak value) Imax [A] 23 49 37 67 49 98

机械参数 /Mechanical Data

转子均匀一致 , 高耐温稀土磁钢，机械固定 ( 无需 Syntered, high temperature rare earth, mech